国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Genetic algorithm selects the optimal path through fitness function, adoptsSthe turning radius of unmanned surface vehiclesSto improve the fitness function, so as to realize the navigation path planning that the genetic calculation of unmanned surface vehicles.SConsidering the requirement of trajectory smoothness for the maneuverability of unmanned surface vehicles, the original broken line path was optimized into a smooth curve path by using Bessel curve optimization method in the initialization of population. The curvature judgment was added into the fitness function, and the maximum curvature of the curve path was set with the minimum turning radius of the unmanned surface vehicles as the constraint condition. Finally, the smooth path that met the constraint condition was selected through the fitness function.Simulation results show that the proposed method can obtain a smooth path conforming to the constraint of the minimum turning radius of unmanned surface vehicles. Compared with the smooth algorithm, the curvature of the proposed method is smaller and the convergence speed is faster.