CLC number: TP242.2
On-line Access: 2022-10-26
Received: 2022-01-20
Revision Accepted: 2022-10-26
Crosschecked: 2022-03-07
Cited: 0
Clicked: 1756
Citations: Bibtex RefMan EndNote GB/T7714
Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG. Robust global route planning for an autonomous underwater vehicle in a stochastic environment[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2200026 @article{title="Robust global route planning for an autonomous underwater vehicle in a stochastic environment", %0 Journal Article TY - JOUR
随机环境中的自主水下航行器鲁棒全局路径规划1浙江大学工业控制技术国家重点实验室,中国杭州市,310027 2浙江大学电气工程学院,中国杭州市,310027 3西安交通大学人工智能与机器人研究所,中国西安市,710049 摘要:本文提出一种在随机局部路径成本下使自主水下航行器在作业海域选择性地完成部分预定任务的路径规划器。该问题被表述为定向越野问题的变体。本文在遗传算法(GA)的基础上,提出一种基于贪心策略的遗传算法(GGA)。该算法包含一种新颖的通过在进化过程中将不可行个体映射到可行解空间来提高优化效率的重生算子,并以差分进化规划器计算确定性局部路径成本。局部路径成本的不确定性来自不可预测的障碍物、测量误差和轨迹跟踪误差。为了提高规划器在不确定环境下的鲁棒性,设计了一种用于路径评估的采样策略,通过对局部路径的概率密度函数多次采样,得到对路径实际成本的估计。通过蒙特卡罗仿真实验验证所提规划器的优越性和有效性。仿真结果表明,所提出的GGA在总收益方面优于同类算法4.7%-24.6%,而基于抽样的GGA路径规划器(S-GGARP)相较于普通的GGA路径规划器(GGARP)提高了5.5%的平均收益。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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