留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

磁异常干扰下基于约束策略的仿生导航方法

刘坤 刘明雍 杨盼盼 李红 彭星光

刘坤, 刘明雍, 杨盼盼, 等 . 磁异常干扰下基于约束策略的仿生导航方法[J]. 北京航空航天大学学报, 2016, 42(9): 1952-1957. doi: 10.13700/j.bh.1001-5965.2015.0568
引用本文: 刘坤, 刘明雍, 杨盼盼, 等 . 磁异常干扰下基于约束策略的仿生导航方法[J]. 北京航空航天大学学报, 2016, 42(9): 1952-1957. doi: 10.13700/j.bh.1001-5965.2015.0568
LIU Kun, LIU Mingyong, YANG Panpan, et al. Bio-inspired navigation method based on constraint strategy under geomagnetic abnormal disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9): 1952-1957. doi: 10.13700/j.bh.1001-5965.2015.0568(in Chinese)
Citation: LIU Kun, LIU Mingyong, YANG Panpan, et al. Bio-inspired navigation method based on constraint strategy under geomagnetic abnormal disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9): 1952-1957. doi: 10.13700/j.bh.1001-5965.2015.0568(in Chinese)

磁异常干扰下基于约束策略的仿生导航方法

doi: 10.13700/j.bh.1001-5965.2015.0568
基金项目: 国家自然科学基金(51379176,51179156,61473233)
详细信息
    作者简介:

    刘坤,男,博士研究生。主要研究方向:地磁仿生导航、多目标优化、进化搜索算法。Tel.:13689250068,E-mail:liukunkmz@126.com;刘明雍,男,博士,教授,博士生导师。主要研究方向:地球物理场导航、自主水下航行器与自主移动机器人、控制理论与应用。Tel.:029-88493006,E-mail:liumingyong@nwpu.edu.cn

    通讯作者:

    刘明雍,Tel.:029-88493006,E-mail:liumingyong@nwpu.edu.cn

  • 中图分类号: U666.1

Bio-inspired navigation method based on constraint strategy under geomagnetic abnormal disturbance

Funds: National Natural Science Foundation of China (51379176, 51179156, 61473233)
  • 摘要: 地磁场异常将会在导航空间中形成极值区域,扰乱磁趋性运动行为,容易造成基于搜索的地磁仿生导航方法陷入局域极小,使得载体迷失航向难以逃离异常区域,最终导致导航失败。针对这一问题,提出了一种基于行为约束策略的导航搜索方法,通过约束搜索行为强制载体扩大探索范围,进而摆脱异常区域干扰,促使载体进入正常地磁场环境。利用磁趋性统计特征与多目标函数的收敛状态构建行为约束的触发及终止条件,将磁趋性历史数据中较好的样本作为约束行为,实施导航搜索行为约束。伴随载体的移动,实现对进化种群的时序更新,最终引导载体到达目标位置,完成导航任务。仿真结果表明,该方法能够有效克服磁场异常环境对地磁仿生导航的干扰,完成导航任务,并能够有效提高远程自主导航的成功率。

     

  • [1] 郭才发,胡正东,张士峰,等.地磁导航综述[J].宇航学报,2009,30(4):1314-1319.GUO C F,HU Z D,ZHANG S F,et al.A survey of geomagnetic navigation[J].Journal of Astronautics,2009,30(4):1314-1319(in Chinese).
    [2] GOLDENBERG F.Geomagnetic navigation beyond the magnetic compass[C]// 2006 IEEE/ION Position, Location, and Navigation Symposium.Piscataway,NJ:IEEE Press,2006:684-694.
    [3] 蔡兆云,魏海平,任治新.水下地磁导航技术研究综述[J].国防科技,2007(3):28-29.CAI Z Y,WEI H P,REN Z X.Underwater geomagnetic navigation technology research were reviewed[J].National Defense Science & Technology,2007(3):28-29(in Chinese).
    [4] LUSCHI P,BENHAMOU S,GIRARD C,et al.Marine turtles use geomagnetic cues during open-sea homing[J].Current Biology,2007,17(2):126-133.
    [5] MORA C V,DAVISON M,WILD J M,et al.Magnetoreception and its trigeminal mediation in the homing pigeon[J].Nature,2004,432(7016):508-511.
    [6] HAYS G C.Animal navigation:Salmon track magnetic variation[J].Current Biology,2013,23(4):R144-R145.
    [7] O'NEILL P.Magnetoreception and baroreception in birds[J].Embryologia,2013,55(1):188-197.
    [8] WALKER M M,DENNIS T E,KIRSCHVINK J L.The magnetic sense and its use in long-distance navigation by animals[J].Current Opinion in Neurobiology,2002,12(6):735-744.
    [9] WILTSCHKO R,WILTSCHKO W.Magnetoreception[J]. Bioessays,2006,28(2):157-168.
    [10] BEGALL S,MALKEMPER E P,ERVENY' J,et al.Magnetic alignment in mammals and other animals[J].Mammalian Biology-Zeitschrift für Säugetierkunde,2013,78(1):10-20.
    [11] LOHMANN K J,LOHMANN C M F,PUTMAN N F.Magnetic maps in animals:Nature's GPS[J].Journal of Experimental Biology,2007,210(21):3697-3705.
    [12] KLINOWSKA M.Cetacean live stranding sites relate to geomagnetic topography[J].Aquatic Mammals,1985,1(1):27-32.
    [13] 刘明雍,刘坤,李红,等.基于时序进化搜索策略的地磁仿生导航研究[J].西北工业大学学报,2014,32(6):894-898.LIU M Y,LIU K,LI H,et al.A study of bio-inspired geomagnetic navigation using timing evolution searching strategy[J].Journal of Northwestern Polytechnical University,2014,32 (6):894-898(in Chinese).
    [14] SCHAFFER J D,ESHELMAN L J,OFFUTT D.Spurious correlations and premature convergence in genetic algorithms[J].Foundations of Genetic Algorithms,2014,1:102-112.
    [15] MORRISON R W,DE JONG K.Triggered hyper mutation revisited[C]//Proceedings of the IEEE Conference on Evolutionary Computation,ICEC.Piscataway,NJ:IEEE Press,2000,2:1025-1032.
    [16] BARLOW G J,SMITH S F.A memory enhanced evolutionary algorithm for dynamic scheduling problems[C]//Applications of Evolutionary Computing,EvoWorkshops 2008:EvoCOMNET,EvoFIN,EvoHOT,EvoIASP,EvoMUSART,EvoNUM,EvoSTOC,and EvoTransLog.Heidelberg:Springer Verlag,2008:606-615.
    [17] THOMSEN R.Multimodal optimization using crowding-based dif-ferential evolution[C]//Proceedings of the 2004 Congress on Evolutionary Computation.Piscataway,NJ:IEEE Press,2004,2:1382-1389.
    [18] BOSTRÖM J E,ÅKESSON S,ALERSTAM T.Where on earth can animals use a geomagnetic bi-coordinate map for navigation [J].Ecography,2012,35(11):1039-1047.
  • 加载中
计量
  • 文章访问数:  546
  • HTML全文浏览量:  2
  • PDF下载量:  398
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-09-02
  • 刊出日期:  2016-09-20

目录

    /

    返回文章
    返回
    常见问答