基于遗传算法的机器鱼路径规划
内容摘要：
针对在线跟踪机器鱼运动等难题，提出基于对基于遗传算法的机器鱼路径规划方法。采用栅格法对机器鱼工作空间进行划分，然后通过复制、交叉、变异等遗传操作得到机器鱼在由栅格表示环境下的最短无碰路径。根据分段控制和模糊控制的思想分别设计出机器鱼前进的速度控制算法和方向控制算法，使机器鱼的实际推进路线尽量与通过遗传算法得到的理想最优路径一致。再通过计算机向机器鱼发出相应的控制指令。实验结果表明，该方法的是有效的。
关键词：
机器鱼；遗传算法；路径规划；点到点控制策略；仿真控制平台
中图分类号：TP242.6; TP301.6 文献标识码：A
Abstract: Aiming at the difficulty of tracking robotic fish online, this paper proposes a path planning method based on genetic algorithm. First, the grid method is used to divide the workspace of robotic fish; then an optimal robot path can be obtained in the grid environment through the genetic operations such as reproduction, crossover and mutation etc. Velocity control computation and direction control computation can be designed in terms of fuzzy control and subsection control respectively. This will make actual path and the path obtained via genetic algorithm as near as possible. Finally the computer gives corresponding control instructions to the robotic fish. Experimental results show the effectiveness of the proposed method.
Keywords: robotic fish; genetic algorithm; path planning; point to point control algorithm; robotic fish control system
