针对多障碍物环境下，传统智能算法容易过早收敛、搜索精准度差等问题，为提高路径规划准确性，获得最佳路径，避免碰撞发生，提出一种基于人工蜂群算法的水上无人艇路径规划方法。通过栅格法建模，以无人艇目的地为蜜源，在蜂群信息交换阶段，采用混沌序列产生初始化雇佣蜂，跳出局部最优。与传统人工蜂群算法进行对比，仿真结果表明，混沌蜂群算法在路径优化方面更能找到全局最优路径。
In this paper, the path planning problem of unattended boat USV on water is studied. aiming at the problem of safe navigation performance of unmanned boat on water in multi-obstacle environment, the traditional intelligent algorithm is easy to converge prematurely and the search accuracy is poor. In order to improve the accuracy of path planning, obtain the best path and avoid collision, a path planning method for unmanned boats on water based on artificial bee colony algorithm is proposed. Through grid modeling, taking the destination of unmanned boat as honey source, in the stage of bee colony information exchange, chaotic sequence is used to generate initial employment bee and jump out of local optimization. Compared with the traditional artificial bee colony algorithm, the simulation results show that the chaotic bee colony algorithm can find the global optimal path better in the aspect of path optimization.
2019,41(12): 173-176 收稿日期：2019-08-01
DOI：10.3404/j.issn.1672-7649.2019.12.033
分类号：U674.91
作者简介：兰莹(1985-),女,讲师,主要研究方向为非完整约束的多移动机器人协作编队控制
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