舰艇编队协同应召搜索最优路径规划方法

摘要

针对水面舰艇编队协同应召搜索运动目标问题,建立了同时优化多个搜索者路径的规划模型,并考虑了声呐有效搜索宽度和舷角对探测能力的影响.根据规划模型,设计了一种多种群协同进化自适应遗传算法,利用竞争排除原理引导多个种群同时进化,兼顾了各种群间的差异化和整体的协调有序,提高了搜索效率;并在种群内部进化中通过分类选择、自适应交叉和导向性变异改进遗传操作,保障了优势基因的传播,加快了收敛速度,动态调节了局部搜索和全局搜索的平衡,避免进化陷入局部最优.通过对方向未知的运动目标进行协同搜索的算例仿真,得到了协同搜索的最优路径,该方法与常规应召搜索方式相比在全局寻优和搜索效能上有较大的优势,适用于求解编队协同应召反潜搜索问题.%For navy ships formation cooperative call search problem of moving target,set up and optimize multiple search path planning model,and considering the sonar searching effective width and Angle effect on detecting ability,According to the planning model,we design a genetic algorithm with adaptive population co-evolution,more use of competitive exclusion principle guiding multiple populations,maintain differentiation between the various groups and the overall coordination and orderly,to improve the search efficiency,Through classification and within the population evolution selection,adaptive crossover and targeted mutation improved genetic operation,ensure the spread of dominant genes,and accelerate the convergence speed,dynamically adjust the balance of the global search and local search,avoid evolved into local optimum,Based on the direction of the unknown target motion of collaborative search example simulation,obtained the collaborative search optimal path,compared with conventional call search methods show that the method in terms of global optimization and search efficiency has some advantages,is suitable for solving the formation cooperative call antisubmarine search problem.