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.

引用

页码：290 / 293

页数：3

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