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针对目前航迹规划代价函数权值确定时所存在的不足之处,通过建立航迹代价函数,构造航迹代价函数中各因素的模型,然后利用层次分析法来减小人为确定权值所带来的不利影响;最后在分水岭分割算法所建立的规划空间的基础上,运用遗传算法进行搜索,选取常用的权值与用层次分析法所得到的权值的航迹代价进行比较分析,说明这种确定权值的方法能有效地降低人的主观因素的影响,所规划出的路径更加安全,合理。
Aiming at the shortcomings of determining the weight of the trajectory planning cost function at present, the model of each factor in the trajectory cost function is constructed by establishing the trajectory cost function, and then the analytic hierarchy process Finally, based on the planning space established by the watershed segmentation algorithm, a genetic algorithm is used to search for the common weight and the track cost of the weights obtained by the AHP The method of determining weights can effectively reduce the influence of human subjective factors, and the planned paths are safer and more reasonable.