摘要
将智能水下机器人集群协同清扫水雷的路径规划问题归结为多人旅行商问题,并根据清扫水雷的任务背景提出两种多人旅行商问题模型.给出了这两类多人旅行商问题的形式化描述,进而探讨了利用遗传算法求解这两类多人旅行商问题的基本思想和具体方案,最后进行了仿真实验验证和算法收敛性分析.实验数据表明,这是一种高效而且适应性强的多机器人路径规划方法.
The problem of path planning for coordinated mine clearance operation of multiple autonomous underwater vehicles was formulated as a kind of multiple travelling salesman problem and two models of multiple travelling salesman problem were developed from the mission background information. The basic thought and specific schemes about the solution of these two kinds of travelling salesman problem using genetic algorithm were discussed in detail. The simulation tests and convergence analyses made show the way of path planning proposed is an effective and robust way to produce satisfactory paths for multirobot systems.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
2003年第2期166-169,共4页
Journal of Harbin Engineering University
基金
国防基础研究基金及武器装备预研基金项目.
关键词
多机器人
水下机器人
路径规划
旅行商问题
遗传算法
multi-robotics
autonomous underwater vehicle
path planning
travelling salesman problem
genetic algorithm
