Defense penetration path planning method of underwater vehicle based on harmony search algorithm

A technology of underwater submersibles and search algorithms, applied in navigation calculation tools, etc., to achieve the effects of improved convergence accuracy, smooth paths, and low path costs

Inactive Publication Date: 2014-12-10
南京恒誉名翔科技有限公司
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of how the underwater submersible breaks through the enemy's defense system to q...

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  • Defense penetration path planning method of underwater vehicle based on harmony search algorithm
  • Defense penetration path planning method of underwater vehicle based on harmony search algorithm
  • Defense penetration path planning method of underwater vehicle based on harmony search algorithm

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Embodiment 1

[0019] combine figure 1 , figure 1 It is a flow chart of the path planning method based on the HS algorithm. A method for planning the penetration path of underwater submersibles based on the harmony search algorithm, comprising the following steps:

[0020] (1) Initialize the parameters and discretize the space. In addition to initializing the parameters of the HS algorithm during initialization, several parameters must be initialized, that is, the number of free nodes for each path , the number of nodes inserted in each path to evaluate the path cost , two adjustment weights and . After the parameter initialization is completed, one dimension of the space can be divided, and the specific degree of division is related to the number of free nodes.

[0021] (2) Initialize the harmony memory bank. Each path represents a harmony vector, and each free node of the path represents a tone, and the harmony memory is composed of HMS paths randomly generated in the penetrati...

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Abstract

The invention discloses a defense penetration path planning method of an underwater vehicle based on a harmony search algorithm. The method mainly comprises the following steps: (1) initializing parameters, and carrying out discretization on a space; (2) initializing a harmony memory bank; (3) generating a new path; (4) updating the harmony memory bank; (5) judging whether end conditions are met or not, if yes, ending, and outputting the optimal path, if not, returning to the step (3) to continue. According to the invention, collaborative evolutionary ideas are introduced into the harmony search (HS) algorithm, and then a collaborative harmony search (CHS) algorithm is put forward. Through a test of standard test functions, compared with the original algorithm, the CHS algorithm is greatly improved in convergence accuracy and convergence speed, furthermore, compared with simple genetic algorithm (SGA) and particle swarm optimizers (PSO) algorithm, the CHS algorithm can avoid the premature convergence problem to a great extent.

Description

technical field [0001] The invention relates to a path planning method, in particular to an underwater submersible path penetration path planning method based on a harmony search algorithm. Background technique [0002] Underwater submersibles have the characteristics of high concealment and high deterrence, and have become the new favorite in modern warfare. As the main armed force in military operations, underwater submersibles perform more and more combat tasks and become more and more complex. When underwater submersibles perform missions, they usually have to pass through straits, important sea passages and important sea areas, and these sea areas usually have many threats to enemy detection and defense, the most important being the threat of sonar arrays. If an underwater vehicle wants to complete its combat mission quickly and efficiently, it must break through the enemy's defense system. This is the penetration of the underwater vehicle, which requires the underwate...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 费浚纯
Owner 南京恒誉名翔科技有限公司
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