基于基因校正的改进型免疫飞蛾-火焰优化,用于自动反向泊车

Gang Liu, Xinli Xu, Longda Wang
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引用次数: 0

摘要

在倒车入库过程中,很难在避免碰撞的同时实现理想的参考轨迹。本研究以建立平滑并缩短轨迹长度、确保泊位倾角足够小的自动反向泊车参考轨迹优化为目标,提出了一种基于基因校正的改进型免疫蛾焰优化方法。具体来说,以标准自动泊车平面系统为基础,结合立方样条拟合方法和基于基因校正的边界交叉解法,构建了合理的高质量自动泊车参考轨迹优化模型,并将其集成到蛾焰优化中。为提高模型的全局优化性能,还设计了包括交叉变异概率和权重系数在内的非线性下降策略,以及基于融合距离的高质量解集维护机制。以位于大连星海广场的大连贝壳博物馆 160 号车库为实验场地,进行了自动停车参考轨迹优化和跟踪控制实验。结果表明,所提出的优化算法能提供更高的参考轨迹优化精度,并能实现更好的参考轨迹跟踪控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Improved Immune Moth–Flame Optimization Based on Gene Correction for Automatic Reverse Parking
During the process of reverse parking, it is difficult to achieve the ideal reference trajectory while avoiding collision. In this study, with the aim of establishing reference trajectory optimization for automatic reverse parking that smooths and shortens the trajectory length and ensures the berthing inclination angle is small enough, an improved immune moth–flame optimization method based on gene correction is proposed. Specifically, based on the standard automatic parking plane system, a reasonable high-quality reference trajectory optimization model for automatic parking is constructed by combining the cubic spline-fitting method and a boundary-crossing solution based on gene correction integrated into moth–flame optimization. To enhance the model’s global optimization performance, nonlinear decline strategies, including crossover and variation probability and weight coefficient, and a high-quality solution-set maintenance mechanism based on fusion distance are also designed. Taking garage No.160 of the Dalian Shell Museum located in Dalian, Xinghai Square, as the experimental site, experiments on automatic parking reference trajectory optimization and tracking control were carried out. The results show that the proposed optimization algorithm provides higher accuracy for reference trajectory optimization and can achieve better tracking control of the reference trajectory.
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