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Bio-inspired navigation method based on constraint strategy under geomagnetic abnormal disturbance
LIU Kun , LIU Mingyong , YANG Panpan , LI Hong , PENG Xingguang
School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
Received: 2015-09-02; Accepted: 2015-11-13; Published online: 2016-01-05
Foundation item: National Natural Science Foundation of China (51379176, 51179156, 61473233)
Corresponding author. Tel.:029-88493006,E-mail:liumingyong@nwpu.edu.cn
Abstract: The abnormity of geomagnetic field will form an extreme value region in the navigation space and disturb the magnetotaxis behavior. Such abnormity will cause the searching based bio-inspired geomagnetic navigation to fall into local minimum, and make the vehicle lose its navigation direction and fail to get out of the abnormal region, which leads to the failure of navigation behavior. In this paper, a navigation method based on behavior constraint strategy is proposed by expanding the exploration scope of vehicle under the constrained searching behavior, and the vehicle is then forced to get rid of the disturbance of abnormal region and get into the normal geomagnetic field. The statistic characteristics of magnetotaxis and convergence state of multi-objective functions are utilized to construct the trigger and termination conditions of behavioral constraints, and better historical data of magnetotaxis are taken as the constraint behavior. The evolution population is updated with the movement of vehicle and finally leads the vehicle to get to the target position. Simulation results show that this method can effectively overcome the abnormal disturbance to the bio-inspired geomagnetic navigation and enhance the success rate of autonomous long range navigation.
Key words: geomagnetic abnormal field     bio-inspired navigation     multi-objective optimization     evolutionary strategy     magnetotaxis

1 问题描述

 (1)

 (2)

 (3)

2 搜索行为约束下的仿生导航方法 2.1 行为约束策略的原理

2.2 约束的触发和终止

2.2.1 约束的触发

 (4)

 (5)

2.2.2 约束的终止

 (6)

2.3 约束航向角的选取

2.4 算法流程

BCS算法是将载体的导航运动与进化策略相结合，利用载体的移动在真实空间中搜索参量变化，评估种群样本性能，其流程如下：

Step 0 初始化

Step 1 多目标函数判决

Step 2 载体搜索

Step 3 算法搜索

Step 4 磁趋性统计

Step 5 行为约束策略

2.5 算法收敛性分析

3 实验与分析

3.1 方法导航效果对比分析

 图 1 不同方法在两种环境中的导航轨迹图 Fig. 1 Navigation paths of different methods in two environments

3.2 不同异常强度对方法的影响

 图 2 不同异常强度下的导航成功率对比 Fig. 2 Comparison of navigation success rate under different anomaly intensities

4 结论

1) 本文提出基于行为约束策略的导航搜索方法，能够在无先验地磁图的情况下，克服磁场异常的干扰，实现导航任务。

2) 通过仿真对比，在正常地磁场环境内，本文所提BCS方法与BWM、PES方法的导航效率相近；而在异常环境内，BCS能够有效克服异常环境的干扰，相较与BWM、PES方法而言，具有更高的导航成功率。

3) 磁场异常干扰可能出现在任何位置上，对于在磁趋性未形成时已进入异常区域以及导航目标点在异常区域内的问题，是作者以后的研究方向。

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#### 文章信息

LIU Kun, LIU Mingyong, YANG Panpan, LI Hong, PENG Xingguang

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

Journal of Beijing University of Aeronautics and Astronsutics, 2016, 42(9): 1952-1957
http://dx.doi.org/10.13700/j.bh.1001-5965.2015.0568