基于机器学习的实海域无人艇避碰算法智能演进方法

[目的]无人艇(USV)效能是指在给定时间内的特定海域完成指定任务的能力,是多层次多技术节点耦合作用的结果,而针对单一技术节点的传统优化方法,对无人艇效能的提升效果有限.[方法]针对无人艇自主系统的特点,从智能算法的角度,提出无人艇智能演进的2种主要形式:一是算法函数;二是算法参数.在此基础上,给出基于机器学习的无人艇...

Intelligent evolution method for obstacle-avoidance algorithm of unmanned surface vehicles in real sea trial based on machine learning

[Objectives]The performance of unmanned surface vehicles(USVs) is defined as the ability to complete specific tasks in specific environments within a given time scale as a result of the cooperation of multiple technical aspects. However, the traditional optimization method that forcus on a single part in the system provides limited effect on improving the performance of USVs.[ Methods] Based on the features of autonomous system of USVs, two main forms of the intelligent evolution of USVs are conducted from the perspective of algorithms: the evolution of algorithm functions and evolution of algorithm parameters respectively.In this case, a machine learning-based intelligent evolution method is proposed. An automatic USV control system which satisfies the requirements of intelligent evolution is then designed and tested in a sea trial.[Results]The obstacle-avoidance task in the sea trial proves the capability and feasibility of the proposed method.[Conclusion]The machine learning-based intelligent evolution of USVs is an effective way to continuously improve the performance of USVs, making it a worthy research topic with high application value.