| 基于模糊综合评价的帆船行驶最优路径规划方法 |
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| 引用本文： | 葛艳,孟庆春,李纪平,邢慧丽,李谦.基于模糊综合评价的帆船行驶最优路径规划方法[J].中国航海,2005(1):63-67. |
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| 作者姓名： | 葛艳 孟庆春 李纪平 邢慧丽 李谦 |
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| 作者单位： | 1. 中国海洋大学,山东,青岛,266071
2. 中国海洋大学,山东,青岛,266071;清华大学,北京,100084 |
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| 基金项目： | 国家自然科学基金资助项目(60374031);山东省自然科学基金项目(Y2002G18) |
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| 摘 要： | 路径规划是帆船比赛取胜的重要环节。综合栅格法和模糊概念,提出了基于模糊综合评价的帆船行驶最优路径规划方法。该方法采用栅格法建立帆船航行的二维平面信息,以模糊逻辑为基础,结合帆船的运动信息建立帆船在运动平面上的二维隶属函数模型,并采用模糊综合评价思想,综合考虑行驶速度和接近目标2个因素建立综合评价函数,进行行驶方向决策。利用宽度优先搜索算法实现全局最优路径搜索。仿真结果证明,该路径规划方法能够取得较好的规划结果,对指导帆船运动员进行科学训练有很好的应用价值。
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| 关 键 词： | 水路运输 帆船 研究 模糊综合评价 路径规划 栅格法 |
| 文章编号： | 1000-4653(2005)01-0063-05 |
| 修稿时间： | 2004年6月17日 |
An Optimal Path Planning Method for a Sailboat Based on Fuzzy Comprehensive Evaluation |
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| GE Yan,Meng Qing-chun,LI Ji-ping,XING Hui-li,LI Qian.An Optimal Path Planning Method for a Sailboat Based on Fuzzy Comprehensive Evaluation[J].Navigation of China,2005(1):63-67. |
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| Authors: | GE Yan Meng Qing-chun LI Ji-ping XING Hui-li LI Qian |
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| Institution: | GE Yan~1,MENG Qing-chun~ |
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| Abstract: | Path planning is an important link to win sailing contest. An optimal path planning method combined with grid method and fuzzy comprehensive evaluation concept is proposed in the paper. The gird method is adopted to set up the two-dimensional motion information for sailing. Based on fuzzy logic a membership function model of sailboat is constructed. Then, with fuzzy comprehensive evaluation functiion the local optimal path planning is impemented and a width-first search method is utilized to find the global optimal path. Simulation results indicate that the effectiveness and applicability of the proposed method are satisfactory. |
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| Keywords: | Waterway transportation Sailboats Research Fuzzy comprehensive evaluation Optimal path planning Grid method |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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