基于AQPSO算法的圆碟形水下滑翔机路径规划

为解决复杂海洋环境影响下圆碟形水下滑翔机的路径规划问题,采用多黏性Lamb涡叠加方法模拟洋流环境模型。以最小能量消耗为优化目标,结合B-spline方法生成光滑的曲线路径,采用自适应性基于量子行为的粒子群优化算法对圆碟形水下滑翔机的路径选择进行优化求解。将该算法与粒子群优化算法和基于量子行为的粒子群优化算法相对比,仿真结果验证了各算法在求解航行路径问题方面的有效性。此外,基于能耗最优原则分析各算法的适用性。

Research on Path Planning of Saucer-type Autonomous Underwater Glider base on AQPSO algorithm

In order to solve the problem of the path planning of the Saucer-type Autonomous Underwater Glider in the complex ocean environment, using multi-viscous lamb vorticity superposition method to establish a marine environment model, employing the goal which is to optimize the minimum energy consumption, combining the B-spline method to generated the smooth curve, using the Adaptive Quantum-behaved Particle Swarm Optimization to select the optimized solution of the path of the Saucer-type Autonomous Underwater Glider, and comparing with the Particle Swarm Optimization and Quantum-behaved Particle Swarm Optimization. By simulation, proving the validity of the path based on optimal energy which is generated by the above algorithm, and comparing the energy consumed of the path which is generated by the above algorithm, as well as analyzing the advantage and disadvantage of each algorithm.