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针对复杂环境下不规则目标的路径规划问题,提出了一种带有运动学约束的遗传避碰规划算法。以舰载机在航母甲板上的路径规划问题作为研究对象,并且该算法可推广至其他具有此类约束的路径规划问题中,它较好地解决了目标形状复杂、障碍环境复杂、目标运动时带有回转半径约束等特殊问题。在传统遗传路径规划算法的基础上,针对性地设计了三维位置和姿态混合编码、三段法路径解码、轨迹包围盒的碰撞检测及距离计算等方法,并在遗传操作中引入惩罚项和修补策略来辅助算法寻优。最后,为得出复杂环境下的最优路径,基于VC++平台对算法进行了仿真验证。结果表明,在复杂障碍环境下,本文提出的算法可求得最优避碰路径,并满足预先设定的目标回转半径约束,能够有效地解决此类目标的避碰路径规划问题。
In order to solve the path planning problem of irregular targets in complex environment, a genetic algorithm for collision avoidance planning with kinematic constraints is proposed. The paper studies the path planning problem of carrier-based aircraft carrier deck, and the algorithm can be extended to other path planning problems with such constraints. It solves the problem of complicated target shape, complex obstacle environment, With turning radius constraints and other special issues. Based on the traditional genetic algorithm, this paper designs three-dimensional position and pose hybrid coding, three-section path decoding, trajectory bounding box collision detection and distance calculation, and introduces the penalty and repair in genetic operation Strategy to assist in algorithm optimization. Finally, in order to get the optimal path in complex environment, the algorithm is verified by VC ++ platform. The results show that the algorithm proposed in this paper can obtain the optimal collision avoidance path and meet the preset target radius of gyration constraints in complex obstacles environment, which can effectively solve the problem of collision avoidance path planning for such targets.