基于数据驱动的遗传算法的无人艇路径规划研究

doi:10.11959/j.issn.2096-6652.201926

Abstract

Abstract:

The genetic algorithm (GA) is an effective method for the path planning system of unmanned surface vessel (USV),but it is easy to fall into local optimal precocity and converges slowly.For this,without increasing the complexity of the algorithm,a data-driven linear changing parameters genetic algorithm (LCPGA) was proposed,which can adjust adaptively control parameters in the shortest time.Compared with the traditional genetic algorithm,the LCPGA increases the diversity of the population,avoids falling into local optimum more effectively,and improves the accuracy,robustness and convergence speed of path planning.Then simulation experiments and field tests verify the more excellent performance of the LCPGA.This algorithm can be helpful in path planning for unmanned surface vessel.

Key words: path planning, improved genetic algorithm, unmanned surface vessel, self-adaption

CLC Number:

TH212，TH213.3

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.

Figures/Tables 28

References 19

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种群大小N	交叉概率P_c	变异概率P_m	最大迭代次数（次）
传统算法100	0.90	0.10	1000
改进算法100	—	—	1000

点数（个）	平均值（m）			方差（m²）
点数（个）	传统算法	改进算法	相对误差	传统算法	改进算法	相对误差
10	2.705	2.705	0.000	0.000%	0.000	0.000%
20	4.879	4.467	-8.444	0.092%	0.006	-93.478%
30	6.198	5.223	-15.73	0.166%	0.031	-81.325%
40	7.598	5.937	-21.86	0.312%	0.035	-88.782%
50	8.414	5.884	-30.07	0.491%	0.054	-89.002%

点数（个）	传统算法（s）	改进算法（s）	相对误差
10	18.645	16.214	-13.040%
20	19.665	16.691	-15.123%
30	20.112	16.865	-16.145%
40	21.044	17.139	-18.556%
50	23.206	18.362	-20.874%

点数（个）	传统算法（次）	改进算法（次）	相对误差
10	52	20	-61.538%
20	83	62	-25.301%
30	98	154	57.143%
40	723	386	-46.611%
50	869	587	-32.451%

天气现象	风向	风力（级）	浪高（m）	能见度（km）
多云	北风	3～4	1	12

Study on path planning of unmanned surface vessel based on data-driven genetic algorithm

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References 19

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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′′

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	传统算法	改进算法	相对误差
最优解距离（km）	0.038	0.037	-2.631%
用时（s）	5.666	4.807	-15.160%

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″

	传统算法	改进算法	相对误差
最优解距离（km）	0.061	0.057	-6.557%
用时（s）	18.961	16.538	-12.779%

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"