基于差分进化算法的自主式水下航行器在时变水下环境中的快速路径规划方法(英文)

查看全文 作　　者：S.Mahmoud [1]Zadeh;D.M.W [1]Powers;[1]A.M.Yazdani;[2]K.Sammut;[3]A.Atyabi

机构地区：[1]School of Computer Science, Engineering and Mathematics, Flinders University Tonsley;[2]Centre for Maritime Engineering, Control and Imaging, Flinders University;[3]Seattle Children's Research Institute, University of Washington

出　　处：《Journal of Marine Science and Application》索引2018年第17卷第4期,共7页

摘　　要：Robust and efficient AUV path planning is a key element for persistence AUV maneuvering in variable underwater environments. To develop such a path planning system, in this study, differential evolution(DE) algorithm is employed. The performance of the DE-based planner in generating time-efficient paths to direct the AUV from its initial conditions to the target of interest is investigated within a complexed 3D underwater environment incorporated with turbulent current vector fields, coastal area,islands, and static/dynamic obstacles. The results of simulations indicate the inherent efficiency of the DE-based path planner as it is capable of extracting feasible areas of a real map to determine the allowed spaces for the vehicle deployment while coping undesired current disturbances, exploiting desirable currents, and avoiding collision boundaries in directing the vehicle to its destination. The results are implementable for a realistic scenario and on-board real AUV as the DE planner satisfies all vehicular and environmental constraints while minimizing the travel time/distance, in a computationally efficient manner. 关键词：Path planning Differential evolution AUTONOMOUS UNDERWATER vehicles EVOLUTIONARY algorithms OBSTACLE AVOIDANCE

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基于差分进化算法的自主式水下航行器在时变水下环境中的快速路径规划方法(英文)

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