智能科学与技术学报 ›› 2019, Vol. 1 ›› Issue (2): 171-180.doi: 10.11959/j.issn.2096-6652.201926
修回日期:
2017-05-25
出版日期:
2019-06-20
发布日期:
2019-09-09
作者简介:
辛峻峰(1982- ),男,山东青岛人,中国海洋大学博士生,主要研究方向为智能无人艇设计研究、港口航道及近海工程、船舶与海洋工程等。|张永波(1981- ),男,山东烟台人,中国海洋大学博士生,主要研究方向为海洋结构物水动力分析。|伯佳更(1995- ),男,主要研究方向为智能无人艇路线规划研究。|赵博文(1998- ),男,山东济南人,主要研究方向为船舶性能在CFD中的应用。|范世缘(1998- ),女,山东济南人,主要研究方向为机械设计、神经网络、认知神经科学等。
基金资助:
Junfeng XIN1(),Yongbo ZHANG2,Jiageng BO1,Bowen ZHAO1,Shiyuan FAN1
Revised:
2017-05-25
Online:
2019-06-20
Published:
2019-09-09
Supported by:
摘要:
遗传算法(GA)是无人艇路径规划系统中的一种有效方法,为了克服该算法易陷入局部最优早熟和收敛速度慢等缺陷,在不增加算法复杂度的前提下,基于数据驱动线性动态交叉策略提出了一种能够在最短时间内自适应动态调整控制参数的改进遗传算法(LCPGA)。与传统的遗传算法相比,LCPGA增加了种群多样性,能更有效地避免陷入局部最优,并提高了路径规划的精度、稳健性和收敛速度。仿真实验和无人艇现场试验验证了该算法具有更优良的性能,该算法可为无人艇路径规划提供一定的应用价值。
中图分类号:
辛峻峰, 张永波, 伯佳更, 等. 基于数据驱动的遗传算法的无人艇路径规划研究[J]. 智能科学与技术学报, 2019, 1(2): 171-180.
Junfeng XIN, Yongbo ZHANG, Jiageng BO, et al. Study on path planning of unmanned surface vessel based on data-driven genetic algorithm[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(2): 171-180.
表6
待规划点坐标"
坐标序号 | 纬度 | 经度 |
1 | N36°03′ 22.38′′ | E120°22′ 57.06′′ |
2 | N36°03′ 21.94′′ | E120°23′ 11.96′′ |
3 | N36°03′ 9.95′′ | E120°23′ 6.15′′ |
4 | N36°03′ 38.43′′ | E120°22′ 55.51′′ |
5 | N36°03′ 11.26′′ | E120°22′ 56.27′′ |
6 | N36°03′ 9.76′′ | E120°23′ 5.38′′ |
7 | N36°03′ 20.26′′ | E120°22′ 58.45′′ |
8 | N36°03′ 2.14′′ | E120°23′ 17.12′′ |
9 | N36°03′ 6.57′′ | E120°23′ 24.70′′ |
10 | N36°03′ 8.45′′ | E120°23′ 10.63′′ |
表8
待规划点坐标"
坐标序号 | 纬度 | 经度 |
1 | N36°03′22.38″ | E120°22′57.06″ |
2 | N36°03′21.94″ | E120°23′11.96″ |
3 | N36°03′9.95″ | E120°23′06.15″ |
4 | N36°03′38.43″ | E120°22′55.51″ |
5 | N36°03′11.26″ | E120°22′56.27″ |
6 | N36°03′09.76″ | E120°23′05.38″ |
7 | N36°03′20.26″ | E120°22′58.45″ |
8 | N36°03′02.14″ | E120°23′17.12″ |
9 | N36°03′06.57″ | E120°23′24.70″ |
10 | N36°03′08.45″ | E120°23′10.63″ |
11 | N36°03′12.20″ | E120°23′08.70″ |
12 | N36°03′11.14″ | E120°23′12.10″ |
13 | N36°03′09.95″ | E120°23′00.67″ |
14 | N36°03′27.69″ | E120°23′13.90″ |
15 | N36°03′17.70″ | E120°23′08.02″ |
16 | N36°03′16.82″ | E120°23′13.03″ |
17 | N36°03′16.26″ | E120°23′18.20″ |
18 | N36°03′31.62″ | E120°23′11.66″ |
19 | N36°03′25.82″ | E120°23′08.26″ |
20 | N36°03′15.32″ | E120°23′04.92″ |
21 | N36°03′44.86″ | E120°23′54.46″ |
22 | N36°03′28.53″ | E120°23′47.99″ |
23 | N36°03′24.43″ | E120°23′59.50″ |
24 | N36°03′27.32″ | E120°23′54.61″ |
25 | N36°03′24.44″ | E120°23′59.50″ |
表10
待规划点坐标"
坐标序号 | 纬度 | 经度 |
1 | N36°03′22.38″ | E120°22′57.06″ |
2 | N36°03′21.94″ | E120°23′11.96″ |
3 | N36°03′09.95″ | E120°23′06.15″ |
4 | N36°03′38.43″ | E120°22′55.51″ |
5 | N36°03′11.26″ | E120°22′56.27″ |
6 | N36°03′09.76″ | E120°23′05.38″ |
7 | N36°03′20.26″ | E120°22′58.45″ |
8 | N36°03′02.14″ | E120°23′17.12″ |
9 | N36°03′06.57″ | E120°23′24.70″ |
10 | N36°03′08.45″ | E120°23′10.63″ |
11 | N36°03′12.20″ | E120°23′08.70″ |
12 | N36°03′11.14″ | E120°23′12.10″ |
13 | N36°03′09.95″ | E120°23′00.67″ |
14 | N36°03′27.69″ | E120°23′13.90″ |
15 | N36°03′17.70″ | E120°23′08.02″ |
16 | N36°03′16.82″ | E120°23′13.03″ |
17 | N36°03′16.26″ | E120°23′18.20″ |
18 | N36°03′31.62″ | E120°23′11.66″ |
19 | N36°03′25.82″ | E120°23′08.26″ |
20 | N36°03′15.32″ | E120°23′04.92″ |
21 | N36°03′44.85" | E120°23′54.46" |
22 | N36°03′28.52" | E120°23′47.98" |
23 | N36°03′24.43" | E120°23′59.49" |
24 | N36°03′27.32" | E120°23′54.61" |
25 | N36°03′24.44" | E120°23′59.49" |
26 | N36°03′25.98" | E120°24′19.16" |
27 | N36°03′24.44" | E120°23′59.49" |
28 | N36°03′34.67" | E120°23′54.48" |
29 | N36°03′26.06" | E120°24′15.69" |
30 | N36°03′36.45" | E120°23′41.22" |
31 | N36°03′28.29" | E120°23′42.87" |
32 | N36°03′27.26" | E120°23′55.84" |
33 | N36°03′37.42" | E120°23′43.61" |
34 | N36°03′24.64" | E120°24′04.51" |
35 | N36°03′28.05" | E120°24′07.45" |
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