【摘要】 对基于遗传算法进行水下机器人运动规划过程中的评价基准和优化方法进行了研究．提出了通过遗传算法的自身变量来表现评价函数中间影响变量的方法．分析了遗传算法选择战略，给出了基于误差的选择公式，提出了对不同优化阶段、不同个体的选择基准进行动态设定的方法．以水下机器人Ｔｗｉｎ－Ｂｕｒｇｅｒ为对象，进行运动规划的结果验证了算法的有效性．更多还原

【Abstract】 The research on evaluation datum and optimizing method in motion optimization of (AUV) is done in this paper.The shown method of evaluation function using variable of genetic algorithm is discussed.The reproduction criterion of genetic algorithm reproduction operation is studied.The reproduction equation by errors is given. The different evaluation datums of different individual on different optimization stages are designed. The efficiency of the calculating methods is demonstrated in the simulation based on the AUV ‘Twin-Burger’.更多还原