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在常见改进遗传算法的基础上,结合微小型无人水面航行器(MUSV)的航行特点,进行变长度实数编码;根据航行的边界约束、避障约束、机动约束、总航路点个数约束以及进行目标点可航性判断来生成初始群体;为了使交叉、变异后的航迹能够避开障碍且能满足航行机动约束,采用相似航路点交叉和优先小范围变异。仿真结果表明,结合MUSV航行特点的改进方法,能够产生适应度较高的初始群体,能够在遗传操作中舍弃不可行个体,从而达到加快收敛速度的效果。
On the basis of the common improved genetic algorithm, combined with the navigation characteristics of the MUSV, variable-length real coding is carried out. According to the boundary constraints, obstacle avoidance constraints, maneuver constraints and the total number of waypoints constraints In order to make the cross track and mutation track to avoid the obstacles and meet the maneuver constraints of navigation, similar waypoint crossing and priority small range variation are adopted. The simulation results show that combining with the improved method of MUSV navigation characteristics, it can produce initial population with higher fitness, and can discard infertile individuals in genetic operation so as to accelerate the convergence speed.