🍁🥬🕒摘要🕒🥬🍁
自主式水下机器人(Autonomous Underwater Vehicle,简称AUV)是近世纪发展起来的具有一定的自主导航和规划能力的水下机器人，可广泛应用于海洋学勘测、地形地貌测量、目标搜索、海底管线检测维修等领域，甚至可以用于水下古迹勘探或水下影视特技,通常可以在危险或人力不可到达的海域活动，扩展载人潜器或有缆潜器/水下机器人的作业能力与探测范围，AUV的这种自主性表现之一是 具有基于环境模型的全局规划能力。
应用遗传算法（GA）对AUV在大范围海洋环境中的全局路径规划问题进行了研究。介绍了基于栅格的环境模型及其数据结构 ,通过仿真结果可以看出 :GA采用可变长编码方式使路径描述简单、清晰 ,具有收敛速度快、求解实际问题效率高的特点，满足系统实时性要求 。
✨🔎⚡运行结果⚡🔎✨
💂♨️👨🎓Matlab代码👨🎓♨️💂
clear all; close all; %% global variables load ('coor.mat'); %Load data generated by RP_coordinate.m Popsize =50; %Population size, should be an even integer %Genetic parameters %MIXRATE = 0.3; ITERATION = 10000; %Number of iteration THRESHOLD = 100; Pcross = 0.7; %Crossover rate Pmutation = 0.3; %Mutation rate %Begin Parentpop=InitPop(Popsize,RPNUM,adjacency); Fitnesscurve=[]; Generation = 1; Fitconst=0; %Number of generations that fitness values remain constant %% Genetic algorithm while(Generation <= ITERATION) if (Fitconst<=THRESHOLD) %Stop iteration if fitness value is constant in threshold number of genreations fitness = Fitness(Parentpop,adjacency); %Calculate fitness of parents crossover = Crossover(Parentpop,Pcross); %Crossover Childpop = Mutation(crossover,Pmutation); %Mutate and get chindren combopop=[Parentpop;Childpop]; %Combine parents and chindren combofitness=Fitness(combopop,adjacency); %Calculate overall fitness nextpop=Select(combopop,combofitness); %Select the first half of best to get 2nd gen Parentpop=nextpop.pop; if(Generation ==1) Best_GApath=Parentpop(1,:); Best_Fitness=combofitness(nextpop.bestplan); else New_Best_Fitness=combofitness(nextpop.bestplan);%Evaluate best solution New_Best_GApath=Parentpop(1,:); if(New_Best_Fitness<Best_Fitness) Best_Fitness=New_Best_Fitness; Best_GApath=New_Best_GApath; Fitconst = 0; %%%%%%%%Visualize planning process%%%%%%%% % GENERATION=[1:Generation-1]; % GAplancoor = [RP(Best_GApath).x;RP(Best_GApath).y; RP(Best_GApath).z].'; % figure(1); % for i=1:RPNUM % subplot(2,1,1); %Plot all rendezvous points % plot3(RP(i).x,RP(i).y,RP(i).z,'o'); % text(RP(i).x,RP(i).y, RP(i).z,num2str(i)); % hold on; % subplot(2,1,2); % plot(RP(i).x,RP(i).y,'o'); % text(RP(i).x,RP(i).y,num2str(i)); % hold on; % end % subplot(2,1,1); % plot3(GAplancoor(:,1),GAplancoor(:,2),GAplancoor(:,3),'r-.'); % title('3D Path of AUV'); % grid on; % hold off; % subplot(2,1,2); % plot(GAplancoor(:,1),GAplancoor(:,2),'r-.'); % title('2D Path of AUV'); % grid on; % hold off; %%%%%%%%Visualize planning process%%%%%%%% else Fitconst=Fitconst+1; end end
📜📢🌈参考文献🌈📢📜
[1]王宏健,边信黔,唐照东,施小成,丁福光.大范围环境下自主式水下潜器两种全局路径规划方法的研究[J].中国造船,2004(03):81-86.
