基于混合遗传算法的船舶避碰路径规划
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摘要
针对不同会遇态势下的船舶避碰路径规划问题,建立一种基于遗传算法和非线性规划理论的避碰路径规划模型。该模型结合遗传算法全局搜索能力强与非线性规划方法局部搜索能力强的特点,使混合后的遗传算法在性能和效率上都得到提高。综合考虑船舶安全性、路径平滑度和路径长度等因素的影响建立避碰目标函数,采用基于实数编码方式的轮盘赌选择算子、算术交叉算子和高斯变异算子,通过迭代获取全局范围内的最优解。通过仿真对模型进行可行性验证和必要性分析。
For ship collision avoidance path planning issue in different encounter situations,a collision avoidance path planning model is proposed based on the genetic algorithm and the nonlinear programming theory. This model combines the strong global search ability of the genetic algorithm and the strong local search ability of the nonlinear programming method,which greatly improves the performance and efficiency of the hybrid genetic algorithm. Considering the influence of ship safety,path smoothness and path length,an objective function of collision avoidance is established. The roulette selection operator,arithmetic crossover operator and Gaussian mutation operator based on real number encoding are adopted. The optimal solution in the global range is obtained through iteration. The feasibility and necessity of the model are verified through simulation.
For ship collision avoidance path planning issue in different encounter situations,a collision avoidance path planning model is proposed based on the genetic algorithm and the nonlinear programming theory. This model combines the strong global search ability of the genetic algorithm and the strong local search ability of the nonlinear programming method,which greatly improves the performance and efficiency of the hybrid genetic algorithm. Considering the influence of ship safety,path smoothness and path length,an objective function of collision avoidance is established. The roulette selection operator,arithmetic crossover operator and Gaussian mutation operator based on real number encoding are adopted. The optimal solution in the global range is obtained through iteration. The feasibility and necessity of the model are verified through simulation.
引文
[1] TAM C K,BUCKNALL R,GREIG A.Review of collision avoidance and path planning methods for ships in close range encounters[J].The Journal of Navigation,2009,62(3):455-476.
[2]毕京强.内河船舶自动避碰决策研究[D].大连:大连海事大学,2016.
[3] LEE Han-Jin,RHEE Key-Pyo.Development of collision avoidance system by using expert system and search algorithm[J].International Shipbuilding Progress,2001,48(3):197-210.
[4] AHN Jin-Hyeong,RHEE Key-Pyo,YOU Young-Jun.A study on the collision avoidance of a ship using neural networks and fuzzy logic[J].Applied Ocean Research,2012,37(4):162-173.
[5] HWANG Cheng-Neng,YANG Joe-Ming,CHIANG Chung-Yen.The design of fuzzy collision-avoidance expert system implemented by H∞-autopilot[J].Journal of Marine Science and Technology,2001,9(1):25-37.
[6] KAO Sheng-Long,LEE Kuo-Tien,CHANG Ki-Yin,et al.A fuzzy logic method for collision avoidance in vessel traffic service[J].The Journal of Navigation,2007,60(1):17-31.
[7] PERERA L P,CARVALHO J P,SOARES C G.Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions[J].Journal of Marine Science and Technology,2011,16(1):84-99.DOI:10.1007/s00773-010-0106-x.
[8] BRCKO T,VETAK J.Fuzzy reasoning as a base for collision avoidance decision support system[J].Promet-Traffic&Trasportation,2013,25(6):555-564.
[9] XUE Yanzhuo,CLELLAND D,LEE B S,et al.Automatic simulation of ship navigation[J].Ocean Engineering,2011,38(17/18):2290-2305.
[10] NAEEM W,HENRIQUE S C,HU Liang.A reactive COLREGs-compliant navigation strategy for autonomous maritime navigation[C]//IFAC-PapersOnLine,2016,49(23):207-213.
[11]李刚.面向危险环境的UUV动碍航物规避方法研究[D].哈尔滨:哈尔滨工程大学,2015.
[12] TSOU Ming-Cheng,KAO Sheng-Long,SU Chien-Min.Decision support from genetic algorithms for ship collision avoidance route planning and alerts[J].The Journal of Navigation,2010,63(1):167-182.DOI:10.1017/S037346330999021X.
[13] TAM C K,BUCKNALL R.Path-planning algorithm for ship in close-range encounters[J].Journal of Marine Science and Technology,2010,15(4):395-407.DOI:10.1007/s00773-010-0094-x.
[14] SZLAPCZYNSKI R,SZLAPCZYNSKA J.On evolutionary computing in multi-ship trajectory planning[J].Applied Intelligence,2012,37(2):155-174.DOI:10.1007/s10489-011-0319-7.
[15]李瑶.遗传算法在船舶避碰行动决策中的应用研究[D].大连:大连海事大学,2013.
[16]刘佳男.基于进化遗传算法的无人艇避碰系统研究[D].大连:大连海事大学,2015.
[17] TSOU Ming-Cheng.Multi-target collision avoidance route planning under an ECDIS framework[J].Ocean Engineering,2016,121:268-278.
[18] TSOU Ming-Cheng,HSUEH Chao-Kuang.The study of ship collision avoidance route planning by ant colony algorithm[J].Journal of Marine Science and Technology,2010,18(5):746-756.
[19] LAZAROWSKA A.Ship’s trajectory planning for collision avoidance at sea based on ant colony optimisation[J].The Journal of Navigation,2015,68(2):291-307.
[20] LAZAROWSKA A.Method of considering the dynamics of a ship in the process of determining a safe trajectory using an algorithm based on ant colony optimization[C]//International Conference on Methods and Models in Automation and Robotics.IEEE,2016.
[21]王得燕.粒子群算法在多船转向避碰中的研究[D].无锡:江南大学,2009.
[22]潘朋朋.基于粒子群优化算法的船舶避碰研究[D].镇江:江苏科技大学,2010.
[23]吕红光,尹勇,尹建川,等.基于人工智能和软计算的船舶自动避碰决策算法[J].中国航海,2016,39(3):35-40.
[24]谢朔,初秀民,柳晨光,等.船舶智能避碰研究综述及展望[J].交通信息与安全,2016(1):1-9.DOI:10.3963/j.issn1674-4861.2016.01.001.
[25]林晓杰.基于改进势场法的受限水域中船舶自动避碰模型研究[D].哈尔滨:哈尔滨工程大学,2015.
[26] TAM C K,BUCKNALL R.Collision risk assessment for ships[J].Journal of Marine Science and Technology,2010,15(3):257-270.DOI:10.1007/s00773-010-0089-7.
[27]史峰,王辉,郁磊,等.MATLAB智能算法30个案例分析[M].北京:北京航空航天大学出版社,2011:17-25.
[28]孙立成.船舶避碰数学模型的研究[D].大连:大连海事大学,2000.
[29]唐冲.基于MATLAB的非线性规划问题的求解[J].计算机与数字工程,2013,41(7):1100-1102.
[2]毕京强.内河船舶自动避碰决策研究[D].大连:大连海事大学,2016.
[3] LEE Han-Jin,RHEE Key-Pyo.Development of collision avoidance system by using expert system and search algorithm[J].International Shipbuilding Progress,2001,48(3):197-210.
[4] AHN Jin-Hyeong,RHEE Key-Pyo,YOU Young-Jun.A study on the collision avoidance of a ship using neural networks and fuzzy logic[J].Applied Ocean Research,2012,37(4):162-173.
[5] HWANG Cheng-Neng,YANG Joe-Ming,CHIANG Chung-Yen.The design of fuzzy collision-avoidance expert system implemented by H∞-autopilot[J].Journal of Marine Science and Technology,2001,9(1):25-37.
[6] KAO Sheng-Long,LEE Kuo-Tien,CHANG Ki-Yin,et al.A fuzzy logic method for collision avoidance in vessel traffic service[J].The Journal of Navigation,2007,60(1):17-31.
[7] PERERA L P,CARVALHO J P,SOARES C G.Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions[J].Journal of Marine Science and Technology,2011,16(1):84-99.DOI:10.1007/s00773-010-0106-x.
[8] BRCKO T,VETAK J.Fuzzy reasoning as a base for collision avoidance decision support system[J].Promet-Traffic&Trasportation,2013,25(6):555-564.
[9] XUE Yanzhuo,CLELLAND D,LEE B S,et al.Automatic simulation of ship navigation[J].Ocean Engineering,2011,38(17/18):2290-2305.
[10] NAEEM W,HENRIQUE S C,HU Liang.A reactive COLREGs-compliant navigation strategy for autonomous maritime navigation[C]//IFAC-PapersOnLine,2016,49(23):207-213.
[11]李刚.面向危险环境的UUV动碍航物规避方法研究[D].哈尔滨:哈尔滨工程大学,2015.
[12] TSOU Ming-Cheng,KAO Sheng-Long,SU Chien-Min.Decision support from genetic algorithms for ship collision avoidance route planning and alerts[J].The Journal of Navigation,2010,63(1):167-182.DOI:10.1017/S037346330999021X.
[13] TAM C K,BUCKNALL R.Path-planning algorithm for ship in close-range encounters[J].Journal of Marine Science and Technology,2010,15(4):395-407.DOI:10.1007/s00773-010-0094-x.
[14] SZLAPCZYNSKI R,SZLAPCZYNSKA J.On evolutionary computing in multi-ship trajectory planning[J].Applied Intelligence,2012,37(2):155-174.DOI:10.1007/s10489-011-0319-7.
[15]李瑶.遗传算法在船舶避碰行动决策中的应用研究[D].大连:大连海事大学,2013.
[16]刘佳男.基于进化遗传算法的无人艇避碰系统研究[D].大连:大连海事大学,2015.
[17] TSOU Ming-Cheng.Multi-target collision avoidance route planning under an ECDIS framework[J].Ocean Engineering,2016,121:268-278.
[18] TSOU Ming-Cheng,HSUEH Chao-Kuang.The study of ship collision avoidance route planning by ant colony algorithm[J].Journal of Marine Science and Technology,2010,18(5):746-756.
[19] LAZAROWSKA A.Ship’s trajectory planning for collision avoidance at sea based on ant colony optimisation[J].The Journal of Navigation,2015,68(2):291-307.
[20] LAZAROWSKA A.Method of considering the dynamics of a ship in the process of determining a safe trajectory using an algorithm based on ant colony optimization[C]//International Conference on Methods and Models in Automation and Robotics.IEEE,2016.
[21]王得燕.粒子群算法在多船转向避碰中的研究[D].无锡:江南大学,2009.
[22]潘朋朋.基于粒子群优化算法的船舶避碰研究[D].镇江:江苏科技大学,2010.
[23]吕红光,尹勇,尹建川,等.基于人工智能和软计算的船舶自动避碰决策算法[J].中国航海,2016,39(3):35-40.
[24]谢朔,初秀民,柳晨光,等.船舶智能避碰研究综述及展望[J].交通信息与安全,2016(1):1-9.DOI:10.3963/j.issn1674-4861.2016.01.001.
[25]林晓杰.基于改进势场法的受限水域中船舶自动避碰模型研究[D].哈尔滨:哈尔滨工程大学,2015.
[26] TAM C K,BUCKNALL R.Collision risk assessment for ships[J].Journal of Marine Science and Technology,2010,15(3):257-270.DOI:10.1007/s00773-010-0089-7.
[27]史峰,王辉,郁磊,等.MATLAB智能算法30个案例分析[M].北京:北京航空航天大学出版社,2011:17-25.
[28]孙立成.船舶避碰数学模型的研究[D].大连:大连海事大学,2000.
[29]唐冲.基于MATLAB的非线性规划问题的求解[J].计算机与数字工程,2013,41(7):1100-1102.