To solve the problem of multi-platform collaborative use in anti-ship missile (ASM) path planning, this paper pro-posed multi-operator real-time constraints particle swarm opti-mization (MRC-PSO) algorithm. MRC-PSO al...To solve the problem of multi-platform collaborative use in anti-ship missile (ASM) path planning, this paper pro-posed multi-operator real-time constraints particle swarm opti-mization (MRC-PSO) algorithm. MRC-PSO algorithm utilizes a semi-rasterization environment modeling technique and inte-grates the geometric gradient law of ASMs which distinguishes itself from other collaborative path planning algorithms by fully considering the coupling between collaborative paths. Then, MRC-PSO algorithm conducts chunked stepwise recursive evo-lution of particles while incorporating circumvent, coordination, and smoothing operators which facilitates local selection opti-mization of paths, gradually reducing algorithmic space, accele-rating convergence, and enhances path cooperativity. Simula-tion experiments comparing the MRC-PSO algorithm with the PSO algorithm, genetic algorithm and operational area cluster real-time restriction (OACRR)-PSO algorithm, which demon-strate that the MRC-PSO algorithm has a faster convergence speed, and the average number of iterations is reduced by approximately 75%. It also proves that it is equally effective in resolving complex scenarios involving multiple obstacles. More-over it effectively addresses the problem of path crossing and can better satisfy the requirements of multi-platform collabora-tive path planning. The experiments are conducted in three col-laborative operation modes, namely, three-to-two, three-to-three, and four-to-two, and the outcomes demonstrate that the algorithm possesses strong universality.展开更多
The influence of ocean environment on navigation of autonomous underwater vehicle(AUV)cannot be ignored.In the marine environment,ocean currents,internal waves,and obstacles are usually considered in AUV path planning...The influence of ocean environment on navigation of autonomous underwater vehicle(AUV)cannot be ignored.In the marine environment,ocean currents,internal waves,and obstacles are usually considered in AUV path planning.In this paper,an improved particle swarm optimization(PSO)is proposed to solve three problems,traditional PSO algorithm is prone to fall into local optimization,path smoothing is always carried out after all the path planning steps,and the path fitness function is so simple that it cannot adapt to complex marine environment.The adaptive inertia weight and the“active”particle of the fish swarm algorithm are established to improve the global search and local search ability of the algorithm.The cubic spline interpolation method is combined with PSO to smooth the path in real time.The fitness function of the algorithm is optimized.Five evaluation indexes are comprehensively considered to solve the three-demensional(3D)path planning problem of AUV in the ocean currents and internal wave environment.The proposed method improves the safety of the path planning and saves energy.展开更多
As for the drop of particle diversity and the slow convergent speed of particle in the late evolution period when particle swarm optimization（PSO） is applied to solve high-dimensional multi-modal functions,a hybrid ...As for the drop of particle diversity and the slow convergent speed of particle in the late evolution period when particle swarm optimization（PSO） is applied to solve high-dimensional multi-modal functions,a hybrid optimization algorithm based on the cat mapping,the cloud model and PSO is proposed.While the PSO algorithm evolves a certain of generations,this algorithm applies the cat mapping to implement global disturbance of the poorer individuals,and employs the cloud model to execute local search of the better individuals;accordingly,the obtained best individuals form a new swarm.For this new swarm,the evolution operation is maintained with the PSO algorithm,using the parameter of pop distr to balance the global and local search capacity of the algorithm,as well as,adopting the parameter of mix gen to control mixing times of the algorithm.The comparative analysis is carried out on the basis of 4 functions and other algorithms.It indicates that this algorithm shows faster convergent speed and better solving precision for solving functions particularly those high-dimensional multi-modal functions.Finally,the suggested values are proposed for parameters pop distr and mix gen applied to different dimension functions via the comparative analysis of parameters.展开更多
基金supported by Hunan Provincial Natural Science Foundation(2024JJ5173,2023JJ50047)Hunan Provincial Department of Education Scientific Research Project(23A0494)Hunan Provincial Innovation Foundation for Postgraduate(CX20231221).
文摘To solve the problem of multi-platform collaborative use in anti-ship missile (ASM) path planning, this paper pro-posed multi-operator real-time constraints particle swarm opti-mization (MRC-PSO) algorithm. MRC-PSO algorithm utilizes a semi-rasterization environment modeling technique and inte-grates the geometric gradient law of ASMs which distinguishes itself from other collaborative path planning algorithms by fully considering the coupling between collaborative paths. Then, MRC-PSO algorithm conducts chunked stepwise recursive evo-lution of particles while incorporating circumvent, coordination, and smoothing operators which facilitates local selection opti-mization of paths, gradually reducing algorithmic space, accele-rating convergence, and enhances path cooperativity. Simula-tion experiments comparing the MRC-PSO algorithm with the PSO algorithm, genetic algorithm and operational area cluster real-time restriction (OACRR)-PSO algorithm, which demon-strate that the MRC-PSO algorithm has a faster convergence speed, and the average number of iterations is reduced by approximately 75%. It also proves that it is equally effective in resolving complex scenarios involving multiple obstacles. More-over it effectively addresses the problem of path crossing and can better satisfy the requirements of multi-platform collabora-tive path planning. The experiments are conducted in three col-laborative operation modes, namely, three-to-two, three-to-three, and four-to-two, and the outcomes demonstrate that the algorithm possesses strong universality.
基金supported by the High-tech Ship Projects of the Ministry of Industry and Information Technology of China(2021-342).
文摘The influence of ocean environment on navigation of autonomous underwater vehicle(AUV)cannot be ignored.In the marine environment,ocean currents,internal waves,and obstacles are usually considered in AUV path planning.In this paper,an improved particle swarm optimization(PSO)is proposed to solve three problems,traditional PSO algorithm is prone to fall into local optimization,path smoothing is always carried out after all the path planning steps,and the path fitness function is so simple that it cannot adapt to complex marine environment.The adaptive inertia weight and the“active”particle of the fish swarm algorithm are established to improve the global search and local search ability of the algorithm.The cubic spline interpolation method is combined with PSO to smooth the path in real time.The fitness function of the algorithm is optimized.Five evaluation indexes are comprehensively considered to solve the three-demensional(3D)path planning problem of AUV in the ocean currents and internal wave environment.The proposed method improves the safety of the path planning and saves energy.
基金supported by the Specialized Research Fund for the Doctoral Program of Higher Education(20114307120032)the National Natural Science Foundation of China(71201167)
文摘As for the drop of particle diversity and the slow convergent speed of particle in the late evolution period when particle swarm optimization（PSO） is applied to solve high-dimensional multi-modal functions,a hybrid optimization algorithm based on the cat mapping,the cloud model and PSO is proposed.While the PSO algorithm evolves a certain of generations,this algorithm applies the cat mapping to implement global disturbance of the poorer individuals,and employs the cloud model to execute local search of the better individuals;accordingly,the obtained best individuals form a new swarm.For this new swarm,the evolution operation is maintained with the PSO algorithm,using the parameter of pop distr to balance the global and local search capacity of the algorithm,as well as,adopting the parameter of mix gen to control mixing times of the algorithm.The comparative analysis is carried out on the basis of 4 functions and other algorithms.It indicates that this algorithm shows faster convergent speed and better solving precision for solving functions particularly those high-dimensional multi-modal functions.Finally,the suggested values are proposed for parameters pop distr and mix gen applied to different dimension functions via the comparative analysis of parameters.
