基于Bekker理论改进遗传算法的野外路径优化方法研究  

Research on off-road path optimization algorithm based on Bekker theory improved genetic algorithm

作　　者：常宁东 冯春[1,2] 程鹏达 朱心广 李玉琼 CHANG Ningdong;FENG Chun;CHENG Pengda;ZHU Xinguang;LI Yuqiong(Institute of Mechanics,Chinese Academy of Sciences,Beijing 100190,China;School of Engineering Science,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院、力学研究所,北京100190 [2]中国科学院大学、工程科学学院,北京100049

出　　处：《光学精密工程》2023年第5期767-775,共9页Optics and Precision Engineering

基　　金：国家重点研发计划项目(No.2018YFC1505504);中国科学院青年创新促进会资助项目(No.2018024);钱学森实验室太空探索实验培育项目(No.TKTSPY-2020-05-01)。

摘　　要：随着装备智能化的发展,复杂野外环境下车辆的路径规划已成为关键技术之一,为军事力量发展、军事装备智能化提供重要保障。野外环境中有多种影响车辆行驶的因素,如障碍物、路面坑洼和泥泞等,传统城市道路的路径优化算法大多针对既有道路,难以满足在存在多种未知威胁的复杂野外环境下的路径优化要求。同时,目前路径优化算法对于野外复杂的土壤地质条件考虑较少,因此本文基于Bekker地面力学理论,结合改进的遗传算法,提出了一种考虑土壤对车辆行驶影响的改进遗传算法,该方法以路径行驶时间最短为优化目标,建立了适合野外环境的路径优化算法。含障碍物和含多种土壤的野外环境建模和路径优化结果表明:该优化算法建立了地面力学特性与车辆行驶的耦合作用,综合考虑了野外环境下的障碍物、土壤特征和车辆特性等因素,在复杂的野外环境下得到了车辆可以安全、高效和畅通通行的野外路径,为建立地形力学与路径优化算法的联系提供了参考。With the development of equipment intelligence,vehicle path planning in complex off-road environments has become a key technology,which is integral to the development of military forces and the intelligence of military equipment.Several factors affect vehicle performance in off-road environments,such as obstacles,road potholes,and mud.Most path optimization algorithms for traditional urban roads are designed for existing roads and do not meet the requirements of path optimization in complex off-road environments with many unknown risks.The path optimization algorithm is less,which considers the complicated soil geological conditions of the off-road environment.Thus,based on the Bekker ground mechanics theory and improved genetic algorithm,this study proposes an improved genetic algorithm,which considers the influences of soil on the vehicle.The shortest path travel time was taken as the optimization goal,and a path optimization algorithm suitable for off-road environments was implemented.In this study,the modeling and path optimization of a field environment with obstacles and various soils were conducted.The results demonstrated that the optimization algorithm established the coupling effect between the mechanical characteristics of ground and vehicle.The obstacles,soil characteristics,and vehicle characteristics in the field environment were evaluated comprehensively,and a safe,efficient,and smooth field path for vehicles was obtained in the complex off-road environment.This algorithm provides a reference for establishing the connection between topographic mechanics and the path optimization algorithm.

关 键 词：野外环境 路径优化 Bekker理论 遗传算法 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]