基于量子粒子群算法的无人水面艇路径规划  

Path Planning of Unmanned Surface Vehicle Based on Quantum Particle Swarm Optimization

作　　者：刘文霞 王荣杰[1,2] 郜怀通 曾超俊 LIU Wenxia;WANG Rongjie;GAO Huaitong;ZENG Chaojun(School of Marine Engineering,Jimei University,Xiamen 361021,China;Fujian Province Key Laboratory of Naval Architecture and Marine Engineering,Xiamen 361021,China)

机构地区：[1]集美大学轮机工程学院,福建厦门361021 [2]福建省船舶与海洋重点实验室,福建厦门361021

出　　处：《集美大学学报（自然科学版）》2023年第1期34-40,共7页Journal of Jimei University：Natural Science

基　　金：国家自然科学基金项目(51879118);福建省高等学校新世纪优秀人才支持计划(B17159);福建省科技拥军项目(B19101);农业部渔业装备与工程技术重点实验室基金项目(2016002,2018001);人工智能四川省重点实验室基金项目(2017RJY02);江苏省输配电装备技术重点实验室(2017JSSPD01);福建省自然科学基金项目(2019J01060381)。

摘　　要：为了获得无人水面艇航行的最优路径,提高航行的安全性和航行路径的平滑度,提出一种基于量子粒子群优化的无人水面艇路径规划算法。首先,通过引入动态控制参数来提高该算法的寻优能力和搜索精度,并由测试函数验证其可行性;然后,在航行安全的前提下,以路径长度和路径平滑度为规划目标,在不同环境下对无人水面艇进行路径规划仿真实验。仿真结果表明,该算法在路径长度、路径平滑度及路径安全性方面表现较好,能找到全局最优路径。In order to improve the safety and smoothness of the sailing process of unmanned surface vehicle and obtain the optimal path,a path planning method based on quantum particle swarm optimization is proposed in this paper.First of all,the dynamic control parameters were introduced to improve the searching ability and searching accuracy of quantum particle swarm optimization algorithm.Then,under the premise of navigation safety,the path length and smoothness were regarded as objectives to carry out the path simulation experiment of unmanned surface vehicle in different environments.The simulation results show that the proposed method can find optimal path better in the aspect of path length,path smoothness and path safety.

关 键 词：无人水面艇 量子粒子群算法 路径规划 全局最优 

分 类 号：U675.5[交通运输工程—船舶及航道工程]