基于改进麻雀搜索算法的无人水面艇航迹规划  

Route Planning of Unmanned Surface Ship Based on Improved Sparrow Search Algorithm

作　　者：吴昌友[1] 丛敏 孙艺格 严贝贝 WU Chang-you;CONG Min;SUN Yi-ge;YAN Bei-bei(School of Management Science and Engineering,Shandong Institute of Business and Technology,Yantai Shandong 264005,China)

机构地区：[1]山东工商学院管理科学与工程学院,山东烟台264005

出　　处：《计算机仿真》2024年第12期504-508,559,共6页Computer Simulation

基　　金：国家自然科学基金(NO41601593);山东省社科项目(13DGLJ05);山东省软科学项目(2014RKB01021)。

摘　　要：为增强水面无人艇的避障能力,提高行驶效率,提出一种改进的麻雀搜索算法(CSMSSA)进行航迹规划。首先,建立水面二维模型和USV航迹规划函数,其次,引入Circle混沌策略来增强麻雀算法初始种群的多样性,并加入正余弦搜索策略来平衡算法的收敛速度和探索能力,采用柯西-高斯变异策略,并结合贪婪策略,减少了局部最优解的形成。最后,基于改进麻雀搜索算法对USV航迹规划进行仿真。通过与两种算法比较的仿真结果,CSMSSA得到了更优的航行路径,验证改进算法的可行性和有效性。In order to enhance the obstacle avoidance ability and improve the driving efficiency of surface unmanned vehicles,this paper proposes an improved Sparrow Search Algorithm(CSMSSA)for route planning.Firstly,a two-dimensional model of the water surface and a USV trajectory planning function were established.Secondly,a Circle chaos strategy was introduced to enhance the diversity of the initial population of the Sparrow algorithm,and a sine cosine search strategy was added to balance the convergence speed and exploration ability of the algorithm.A Cauchy Gaussian mutation strategy was adopted,combined with a greedy strategy,to reduce the formation of local optimal solutions.Finally,based on the improved sparrow search algorithm,the trajectory planning of USV was simulated.By comparing the simulation results with the two algorithms,CSMSSA obtains a better navigation path,verifying the feasibility and effectiveness of the improved algorithm.

关 键 词：麻雀搜索算法 无人水面舰艇 航迹规划 混沌映射策略 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]