The global trajectory planning based on multi-objective optimization algorithm for unmanned surface vehicle

被引：0
|
作者：
Tang, Pingpeng [1 ]
Liu, Deli [1 ]
Hong, Changjian [1 ]
Deng, Tingquan [2 ]
机构：
[1] Wuhan Second Ship Design and Research Institute, Wuhan
[2] College of Science, Harbin Engineering University, Harbin
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2015年 / 43卷
关键词：
Electronic chart; Genetic algorithm; Global trajectory planning; Multi-objective optimization; Unmanned surface vehicle;
D O I：
10.13245/j.hust.15S1069
中图分类号：
学科分类号：
摘要：
In order to enhance the capacity of global trajectory planning for unmanned surface vehicle (USV), the problem of global trajectory planning was considered by multi-objective optimization method in the study. The gried-based world model was constructed on the base of electronic chart, and the multi-objective constrained optimization model was proposed by doing the analysis of global trajectory planning of USV. In order to simplify the constraints, the distance function and two-penalty function were utilized. By introducing the Pareto strength and the minimum gap model into the research, a multi-objective genetic algorithm based global trajectory planning algorithm was designed. At last, the experiment demonstrates that the multi-objectives of global trajectory planning can be balanced, and a better global trajectory for USV can be obtained by the alogrithm. ©, 2015, Huazhong University of Science and Technology. All right reserved.
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页码：290 / 293
页数：3
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