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一种用于AUV实时路径规划的免疫遗传算法
Alternative TitleImmune genetic algorithm for AUV (Autonomous Underwater Vehicle) real-time path planning
徐红丽; 封锡盛; 刘健; 于闯
Department海洋信息技术装备中心
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明授权
Status有权
Abstract本发明涉及自主水下机器人的实时路径规划方法,是AUV实时避碰过程中根据在线地图进行在线、实时局部路径规划的方法。本发明根据AUV路径点数目设定小种群个数,并初始化;对每个小种群进行免疫选择后得到子群;将其中一个子群进行遗传操作,另一个进行细胞克隆;然后通过接种疫苗和抗体聚类形成下一代小种群,判断其是否满足条件;如果满足则选出这些小种群的最优个体;从所有最优个体组成的集合中选择最优个体最为规划路径。本发明利用抗体群聚类机理维持群体的多样性,既避免了算法过早收敛问题,又有利于达到全局优化。所建立的免疫遗传算法采用自我调节机制对生成的子代进行聚类分析,保证了群体的多样性。
Other AbstractThe invention relates to a real-time path planning method of AUV (Autonomous Underwater Vehicle), in particular to a method for carrying out online, real-time local path planning according to an online map in an AUV real-time collision preventation process. The method comprises the steps of: setting the quantity of small populations according to the quantity of path points of the AUV, initializing carrying out immune selection on each small population to obtain subgroups carrying out genetic manipulation on one subgroup, carrying out cell cloning on the other subgroup then clustering through a vaccination and an antibody to form the next generation of small population, judging whether the next generation of small population meets the conditions or not if yes, selecting optimal individuals of the small populations and selecting the optimal individuals from the set consisting of all optimal individuals to be used as a planning path. According to the invention, the diversity of the population is maintained by using an antibody clustering principle, the premature convergence of an algorithm is avoided, and the global optimization is facilitated. The established immune genetic algorithm is used for clustering and analyzing generated filial generations by adopting a self-regulating mechanism, and the diversity of the population is ensured.
PCT Attributes
Application Date2012-11-23
2013-05-01
Date Available2016-01-20
Application NumberCN201210487442.4
Open (Notice) NumberCN103077425B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/17773
Collection海洋信息技术装备中心
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
徐红丽,封锡盛,刘健,等. 一种用于AUV实时路径规划的免疫遗传算法[P]. 2013-05-01.
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