SIA OpenIR  > 水下机器人研究室
Alternative TitleGlobal Path Planning for AUV Based on Charts and the Improved Particle Swarm Optimization Algorithm
张岳星1,2,3; 王轶群1,2,3; 李硕1,2; 王晓辉1,2
Source Publication机器人
Contribution Rank1
Funding Organization国家重点研发计划(2017YFC0305700)
Keyword自主水下机器人 全局路径规划 电子海图 粒子群优化(PSO)算法
Other AbstractWhen the AUV (autonomous underwater vehicle) plans a global path in sea area with complex conditions, there exist various problems, such as the lack of environmental information, the difficulty in environmental modeling, and the high complexity and the weak solution ability of conventional algorithms. To solve the problems, a global path planning method based on charts and the improved PSO (particle swarm optimization) algorithm is proposed. Firstly, a 3-dimensional static environment model based on the prior knowledge of electronic charts, and functions of the path range, the hazard degree and the smoothness are constructed. In order to improve the solution ability of the algorithm, the search factor and homology factor are introduced into the PSO algorithm to adjust the parameters adaptively, and the jump process of the fish swarm algorithm is also combined. Meanwhile, the security violation degree and the optimization rules are established to improve the security of the planned path. Finally, the simulation results show that the proposed method is more capable of planning short-range and high-security global paths compared with the traditional PSO algorithms and the ant colony algorithm (ACA), and can meet the requirements of AUV global path planning in complex sea conditions.
Document Type期刊论文
Recommended Citation
GB/T 7714
张岳星,王轶群,李硕,等. 基于海图和改进粒子群优化算法的AUV全局路径规划[J]. 机器人,2020:1-9.
APA 张岳星,王轶群,李硕,&王晓辉.(2020).基于海图和改进粒子群优化算法的AUV全局路径规划.机器人,1-9.
MLA 张岳星,et al."基于海图和改进粒子群优化算法的AUV全局路径规划".机器人 (2020):1-9.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于海图和改进粒子群优化算法的AUV全局(4988KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[张岳星]'s Articles
[王轶群]'s Articles
[李硕]'s Articles
Baidu academic
Similar articles in Baidu academic
[张岳星]'s Articles
[王轶群]'s Articles
[李硕]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[张岳星]'s Articles
[王轶群]'s Articles
[李硕]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于海图和改进粒子群优化算法的AUV全局路径规划.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.