發(fā)布時間：2018-06-21 00:28

  本文選題：交通工程 + 滑動地平線控制��； 參考：《公路交通科技》2017年11期

【摘要】：自由區(qū)域路徑優(yōu)化問題可以在除障礙區(qū)之外的整個區(qū)域內(nèi)自由規(guī)劃路徑,為了解決帶動態(tài)障礙區(qū)的自由區(qū)域路徑實時優(yōu)化問題,提出了一種遺傳算法(GA)加滑動地平線控制(RHC)的混合算法。首先,建立和討論了帶動態(tài)障礙區(qū)的自由區(qū)域路徑實時優(yōu)化問題的數(shù)學模型。然后,詳細描述了提出的遺傳算法加滑動地平線策略的混合算法,闡述了混合算法中滑動地平線控制與遺傳算法結合的關鍵步驟之一:可變長度染色體的設計。全面探討了混合算法中滑動地平線長度的選擇對于混合算法的影響,說明了滑動地平線控制策略中不同終端加權設計的路徑優(yōu)化效果,并通過終端加權的設計,以保證路徑規(guī)劃的可行性和優(yōu)化性能。仿真結果表明,遺傳算法(GA)加滑動地平線控制(RHC)的混合算法非常有效,在確定性的環(huán)境條件下,獲得與現(xiàn)有GA算法幾乎相同的求解性能,而在動態(tài)和不確定的環(huán)境下,新算法則取得了更佳的求解效果。在這兩種情況下,帶RHC的混合算法的在線計算時間是單純GA算法的一小部分。
[Abstract]:In order to solve the problem of free region path optimization with dynamic obstacles, the free region path optimization problem can be freely planned in the whole region except for the obstacle area, in order to solve the problem of real-time optimization of free region path with dynamic obstacle area. A hybrid genetic algorithm (GA) with sliding horizon control (RHC) is proposed. Firstly, the mathematical model of real time path optimization in free region with dynamic obstacle is established and discussed. Then, the hybrid algorithm of genetic algorithm and sliding horizon strategy is described in detail. One of the key steps of the combination of sliding horizon control and genetic algorithm in hybrid algorithm is described: the design of variable length chromosome. The influence of the choice of sliding horizon length in the hybrid algorithm on the hybrid algorithm is discussed. The path optimization effect of different terminal weighted design in sliding horizon control strategy is explained, and through the design of terminal weighting, To ensure the feasibility of path planning and optimal performance. The simulation results show that the hybrid genetic algorithm (GA) and sliding horizon control (RHC) algorithm are very effective. In deterministic environment, the solution performance of GA algorithm is almost the same as that of the existing GA algorithm, but in dynamic and uncertain environment. The new algorithm achieves better results. In both cases, the online computing time of the hybrid algorithm with RHC is a small part of the simple GA algorithm.
【作者單位】： 北京師范大學地表過程與資源生態(tài)國家重點實驗室;浙江省標準化研究院;交通運輸部公路科學研究院;北京師范大學減災與應急管理研究院;
【分類號】：U491

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本文編號：2046328