基于遗传算法的目标追踪过程中路径规划研究  

Research on path planning for target tracking process based on genetic algorithm

作　　者：鞠成恩 赵晓侠[1] 王明兴 黎振红 JU Cheng-en;ZHAO Xiao-xia;WANG Ming-xing;LI Zhen-ilong(Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500. Chin)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《传感器与微系统》2018年第6期112-114,共3页Transducer and Microsystem Technologies

基　　金：国家自然科学基金地区基金资助项目(KKGD201303043);昆明理工大学大学生创新创业训练计划项目(201610674102)

摘　　要：针对目标追踪过程中实时路径规划和避障问题,在遗传算法的基础上,采用一种沿切线方向拉开的简单几何避障方法产生初始种群,提高了初始种群中路径的连通性;进行交叉和变异,使算法能在障碍物环境中获得较好的追踪路径。仿真结果表明:提出的算法正确可行,为目标追踪过程中的路径规划问题提供了一种新的解决方法。Aiming at problem of real-time path planning and obstacle avoidance in target tracking process,on the basis of genetic algorithm,a simple geometric obstacles avoidance method is applied along tangential direction to generate initial population. It can improve the connectivity of the path,and on this basis,crossover and mutation are carried out,the algorithm can obtain better tracking paths in obstacle environment. Simulation results show that the algorithm is correct and feasible and provides a new solution for path planning problem in process of target tracking.

关 键 词：目标追踪 遗传算法 障碍物环境 路径规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]