基于遗传算法的机器鱼水中路径规划  

Path Planning of Robot Fish's Based on Genetic Algorithm

作　　者：李连鹏[1,2,3] 苏中[1,2,3] 解迎刚[1,2,3] 刘福朝[1,2,3] 

机构地区：[1]北京信息科技大学,北京100192 [2]高动态导航技术北京市重点实验室,北京100101 [3]智能控制研究所,北京100101

出　　处：《兵工自动化》2015年第12期93-96,共4页Ordnance Industry Automation

基　　金：国家自然基金(61261160497);北京市科技计划课题(Z131100005323009);研究生教育质量工程(5111524102)

摘　　要：针对机器鱼水中路径寻优的具体要求,提出一种以遗传算法为基础的机器鱼路径规划方法。通过介绍遗传算法的3种基本操作,将遗传算法应用到试验场景中规划出最优路径,分析研究了一种根据目标点与机器鱼的距离变化而改变机器鱼运动速度的策略,并进行仿真分析和实验。仿真结果表明:采用遗传算法的水中救援路径规划可将救援时间缩短30%以上,提高了寻优效率。说明遗传算法对机器鱼的路径规划具有积极效果和快速寻优特性。Aiming at requirements of the robot fish water path searching, a new method of robot fish path planning based on genetic algorithm is proposed. By introducing 3 basic operations of genetic algorithm, the genetic algorithm is applied to the test scene to plan the optimal path, and analyzed a analysis and experiment are carried out. Simulation results show strategy to change the speed of the robot fish. Simulation that the use of genetic algorithm in the water rescue path planning can shorten the rescue time of more than 30%, improving the search efficiency. The genetic algorithm has positive effects on the path planning of the robot fish and the fast optimization of the genetic algorithm.

关 键 词：机器鱼 遗传算法 水中救援 路径规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]