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Alternative TitleImmune genetic algorithm for AUV (Autonomous Underwater Vehicle) real-time path planning
徐红丽; 封锡盛; 刘健; 于闯
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a real-time path planning method of AUV (Autonomous Underwater Vehicle), in particular to a method for carrying out online, real-time local path planning according to an online map in an AUV real-time collision preventation process. The method comprises the steps of: setting the quantity of small populations according to the quantity of path points of the AUV, initializing carrying out immune selection on each small population to obtain subgroups carrying out genetic manipulation on one subgroup, carrying out cell cloning on the other subgroup then clustering through a vaccination and an antibody to form the next generation of small population, judging whether the next generation of small population meets the conditions or not if yes, selecting optimal individuals of the small populations and selecting the optimal individuals from the set consisting of all optimal individuals to be used as a planning path. According to the invention, the diversity of the population is maintained by using an antibody clustering principle, the premature convergence of an algorithm is avoided, and the global optimization is facilitated. The established immune genetic algorithm is used for clustering and analyzing generated filial generations by adopting a self-regulating mechanism, and the diversity of the population is ensured.
PCT Attributes
Application Date2012-11-23
Date Available2016-01-20
Application NumberCN201210487442.4
Open (Notice) NumberCN103077425A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
徐红丽,封锡盛,刘健,等. 一种用于AUV实时路径规划的免疫遗传算法[P]. 2013-05-01.
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File name: CN201210487442.4.pdf
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