CN110163502A - A kind of more bullet collaboration multistage target assignment methods - Google Patents
A kind of more bullet collaboration multistage target assignment methods Download PDFInfo
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Abstract
The invention discloses a kind of more bullets to cooperate with multistage target assignment method, the target prediction information according to provided by Target Tracking System carries out just sub-distribution to more pieces of guided missiles and multiple targets first, more pieces of guided missiles are emitted according to the first method of salary distribution of setting, when guided missile and target relative distance are less than preset threshold, the online reallocation of more pieces of guided missiles Yu multiple targets is carried out according to target information at this time.The process that the collaboration of more guided missiles strikes target is divided into two stages by the present invention, according to the different characteristics of different phase, Target Assignment is carried out using the Target Assignment algorithm for meeting demands, while guaranteeing optimal scheme as much as possible taken into account algorithm real-time, the present invention is by selecting different chromosome different crossover probability and mutation probability, to on the basis of guaranteeing population diversity, the quick optimizing for realizing algorithm has reached the target that operation rapidity and result optimality are taken into account.
Description
Technical field
The present invention relates to Target Assignment fields, and in particular to a kind of more bullets collaboration multistage target assignment methods.
Background technique
In numerous weapons, guided missile is held a high place in modern weapons equipment with its unique advantage.
Guided missile has many advantages, such as that attack distance is remote, attack precision is high, speed is fast, lethality is strong, therefore since being added to modern war,
Guided missile yields unusually brilliant results in war as the primary armament of long-range destruction unfriendly target.Currently, anti-missile shield and mesh
Target anti-strike capability is constantly promoted, therefore the war of original mode of operation and Concept of Operations more and more inadaptable modernization
Requirement is striven, more guided missile cooperations have become a new research hotspot at the same time.More guided missile cooperations, have adjusted
The Concept of Operations of past backwardness is more advantageous among the overall situation for being dissolved into modern combined operation and goes.More guided missile cooperations are beaten
The situation that previous single guided missile singles solely struggle against is broken, by the communication and network connection between more guided missiles, by more pieces of guided missile compositions one
A attacking network forms information sharing, tactical coordination, the sound social atmosphere having complementary functions, in the joint of command centre within network
Under regulation, realized using community superiority to target multi layer, comprehensive comprehensive strike, and the attack net of more guided missiles composition
Network to anti-missile system have greatly threaten, the interception success rate of original anti-missile system be not just it is very high, therefore, when face more pieces
When grave danger of guided missile, by tired in reply, effect will be reduced to minimum anti-missile system.Current more guided missile cooperations are
Become reality, various countries are also in the theoretical research and actual verification of the progress this respect of effort.Such as: Russia's research and development
" granite " anti-warship guided missle, " net fire " tactical guided missile system, " Sa De " anti-missile system in the U.S., is exactly very typical more guided missiles
The case of cooperation.
When the multiple targets of more guided missile concerted attacks, how Target Assignment is carried out, which type of Target Assignment strategy is taken,
Be more guided missile cooperations have to solve major issue, Target Assignment science whether directly determine attack effect
Quality.Compared with single piece of missile attack simple target, the most significant difference of Multi-target Attacking is needed according to two between ourselves and the enemy
Aspect is comprehensively considered, and should consider that the attack value of target, the defence capability of other side consider our resource about again
The attacking ability and characteristic of beam and guided missile.For air-air this kind of situation of fighting, it is also contemplated that the air battle between ourselves and the enemy
Situation.For synthesis, mine to target assignment problem is to give full play to our advantage after comprehensively considering the factor of various aspects,
The striking capabilities for making full use of guided missile make every effort to obtain optimal fighting effect.
Summary of the invention
The present invention is quasi- to propose a kind of more bullet collaboration multistage Target Assignment algorithms, is hit with solving more guided missiles multiple target
Target assignment problem in journey.
To achieve the goals above, the technical scheme is that
A kind of more bullet collaboration multistage target assignment methods, the first target prediction according to provided by Target Tracking System are believed
Breath carries out just sub-distribution to more pieces of guided missiles and multiple targets, and more pieces of guided missiles are emitted according to the first method of salary distribution of setting, when
When guided missile and target relative distance are less than preset threshold, according to target information at this time carry out more pieces of guided missiles and multiple targets
Line is reallocated.
Scheme is further: it is described when guided missile is less than preset threshold with target relative distance, it is one in more pieces of guided missiles
At the time of piece guided missile and target relative distance are less than preset threshold.
Scheme is further: the line reallocation is to realize that target is reallocated online using auction algorithm.
Scheme is further: the process for realizing that target is reallocated online using auction algorithm is:
Step 1: killing probability matrix formula of reallocating is established,
P_onlineijIt represents in stage of reallocating online, the probability that i-th piece of guided missile successfully hits j-th of realization of goal,
Wherein PTgo_online(ij)WithCalculation formula it is as follows:
Wherein, Tgo_onlineIt (ij) is to assume i-th piece of guided missile with j-th of target for the required remaining flight that strikes target
Time value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation for striking target corresponding
Value；
Wherein: m is that guided missile number, n target number, and m are greater than n；Tgo_online(ij) andBy target
Tracking system provides, and above-mentioned calculating is using the strike information at target current time provided by Target Tracking System as with reference to letter
Breath is calculated；
Step 2: establishing a unallocated collection and an allocation set, the more pieces of guided missiles are put into unallocated collection, by institute
It states more pieces of guided missiles and " 0 " is initialized as to the killing probability value of each target；
Step 3: judging whether unallocated collection is empty, if unallocated collection is sky, exports final allocation result and complete again
Distribution；Otherwise, the 4th step is executed；
Step 4: the reallocation killing probability matrix formula provided according to the first step calculates each piece of guided missile and corresponds to different mesh
Target kills probability value, is allocated according to auction algorithm: will kill bid of the probability value as this piece of guided missile to target, obtains
To the highest guided missile of target bid, the guided missile and the target are put into allocation set, return to third step.
Scheme is further: the allocation algorithm of the just sub-distribution is using genetic algorithm, to crossover probability therein
PdWith mutation probability PmIt carries out adaptively selected, is respectively as follows:WithAnd it is full
Foot:
The genetic algorithmic procedures are:
Step 1: establishing initial chromosome population；
Step 2: judging whether the termination condition of algorithm meets, search result is exported if meeting；Otherwise step below is executed
Suddenly；
Step 3: carrying out DBSCAN cluster to whole chromosomes, crossover probability P is carried out according to cluster resultdIt is general with variation
Rate PmIt is adaptively selected；
Step 4: carrying out duplication operation according to adaptively selected value；
Step 5: according to crossover probability P selected in third stepdCrossover operation is executed to chromosome；
Step 6: according to mutation probability P selected in third stepmMutation operation is executed to chromosome；
Step 6: returning to second step；
Wherein: described to establish initial chromosome population and be:
Step 1: determining the relationship of chromosome and guided missile and target, it may be assumed that decimal representation mode is used, it is long with chromosome
Degree is equal to guided missile sum m, and each chromosome is rearranged object element, some mesh of each gene representation by guided missile number order
Mark distribute to a guided missile as a result, in initial population therein chromosome termination condition are as follows: it is required that each target at least by
1 piece of guided missile is distributed, while requiring each piece of guided missile that must all be assigned to target；
Step 2: above-mentioned relation is established fitness function relational expression, fitness function f are as follows:
Wherein:
P_preijRepresentative first allocated phase before penetrating, the probability that i-th piece of guided missile successfully hits j-th of realization of goal,
Specific value calculation method is as follows:
Wherein PTgo_pre(ij)WithCalculation formula it is as follows:
Wherein, Tgo_preIt (ij) is when assuming that i-th piece of guided missile with j-th target is remaining flight required for striking target
Between predicted value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation for striking target corresponding
Predicted value, parameter Tgo_pre(ij) withIt is provided by Target Tracking System, above-mentioned calculating is with Target Tracking System
Provided target prediction strike information is calculated as reference information, in which: m is guided missile number, n target number, and m is big
In n.
Scheme is further: crossover probability P described in third stepdWith mutation probability PmAdaptively selected mode are as follows:
If being judged as that chromosome is same class via DBSCAN algorithm, the fitness letter of whole chromosomes is calculated first
Number result simultaneously calculates its mean value fmean, it is greater than f at this point for fitness function resultmeanChromosome, crossover probability PdAnd change
Different probability PmSelection are as follows:WithAnd then execute subsequent calculating；And f is less than for fitness function resultmeanDyeing
Body, crossover probability PdWith mutation probability PmSelection are as follows:WithAnd then execute subsequent calculating；
If being judged as that chromosome is not same class via DBSCAN algorithm, to the crossover probability P of whole chromosomesdWith
Mutation probability PmSelection are as follows:WithAnd then execute subsequent calculating.
The beneficial effects of the present invention are:
1. the process that the collaboration of more guided missiles strikes target is divided into two stages by the present invention, special according to the difference of different phase
Point carries out Target Assignment using the Target Assignment algorithm for meeting demands, and maximum to the greatest extent can while guaranteeing optimal scheme
Energy has taken into account algorithm real-time.
2. the present invention is by selecting different chromosome different crossover probability and mutation probability, thus guaranteeing population
On the basis of multifarious, the quick optimizing of algorithm is realized, has reached the target that operation rapidity and result optimality are taken into account.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Detailed description of the invention
Fig. 1 is that more bullets designed in this patent cooperate with multistage Target Assignment algorithm flow block diagram；
Fig. 2 is that more bullets designed in this patent cooperate with multistage Target Assignment algorithm time diagram；
Fig. 3 is improved adaptive GA-IAGA flow diagram designed in this patent.
Specific embodiment
A kind of more bullet collaboration multistage target assignment methods, the first target prediction according to provided by Target Tracking System are believed
Breath carries out just sub-distribution to more pieces of guided missiles and multiple targets, and more pieces of guided missiles are emitted according to the first method of salary distribution of setting, when
When guided missile and target relative distance are less than preset threshold, according to target information at this time carry out more pieces of guided missiles and multiple targets
Line is reallocated.Wherein: it is described when guided missile and target relative distance are less than preset threshold, be one piece of guided missile in more pieces of guided missiles with
At the time of target relative distance is less than preset threshold.
As the algorithm characteristic for just distributing used allocation algorithm before penetrating are as follows: the Global Optimality of allocation result preferably (one
As be globally optimal solution), but the operation efficiency of algorithm is poor.
It is online reallocate used by allocation algorithm algorithm characteristic are as follows: allocation result may be local optimum even
Local suboptimum, the only allocation result of one " relatively satisfied ", but algorithm operation efficiency with higher.
In the present embodiment, allocation algorithm used by just distributing before penetrating is improved adaptive GA-IAGA, by poly- according to chromosome
The on-line automatic adjustment crossover probability of class result and mutation probability, realize and retain as far as possible more excellent chromosome, and to poor
Chromosome is eliminated as soon as possible, to realize the quick optimizing of algorithm on the basis of guaranteeing population diversity.
Algorithm overall flow block diagram is as shown in Figure 1.Algorithm timing diagram is as shown in Figure 2.
For convenience of being hereafter described further, first to the variable used required for Target Assignment in the present embodiment and
Related definition is described as follows:
It is assumed that the number of guided missile is m, the number of target is n, has m > n establishment under normal circumstances, then guided missile strikes target
Allocation matrix it is as follows:
Wherein,
Meanwhile meeting constraint condition:
In formula, each target to be attacked will at least be assigned one piece of guided missile to first constraint representation；Second constraint
Indicate that each guided missile has to one target of attack and is only capable of one target of attack.
Attack income refers to the acquired target value when guided missile executes task, the optimization of index guiding target distribution and
Decision is carried out to the maximized direction of fighting efficiency.Here, the attack using the killing probability of our missile attack as guided missile is received
Beneficial factor makes guided missile be intended to the target attacking high value and capable of effectively intercepting.Definition killing probability matrix is as follows:
Wherein, PijThe probability that i-th piece of guided missile successfully hits j-th of realization of goal is represented, in this patent, kills probability
Matrix D just distribution and calculation method in online reallocate before penetrating is not fully consistent, and circular will be each below
It is discussed in detail in step.
In embodiment: the line reallocation is to realize that target is reallocated online using auction algorithm.
The basic thought of auction algorithm be by task distribution regard a process of exchange as, by " bid-bid-acceptance of the bid " this
One market auction mechanism realizes appointing and migrating for task.When the intelligent body in intelligent Unmanned Systems is sent out during execution task
It is existing oneself there is no enough abilities to handle certain tasks, or execute task cost it is excessive when, just these tasks are externally carried out
Auction, is submitted a tender by other intelligent bodies according to its ability and state, then preside over the intelligent body of auction just by task immigration to
The intelligent body of task can be executed with more low-cost.Method for allocating tasks principle based on auction algorithm is simple and high-efficient,
Real-time is good, can be realized online Target Assignment.
The basic thought of auction algorithm is summarized as follows: assuming that buyer i is a to the maximum bid of article j expectationij, to article
The price that must be paid is pj, then article j, for buyer i, net profit is aij-pj, for each buyer, pursuit
It is that net profit maximizes, i.e.,When each buyer is satisfied with, this group is distributed and this
Group price has reached balance.For generally speaking, such equilibrium assignmen provides maximum gross profit, entirety is also just reached most
It is excellent.
In practical applications, to avoid calculating process from falling into circulation, a chaotic mechanism is introduced, to break circulation, i.e.,
It is required that having at least increase by 1 fixed positive number ε than last marked price to the bidding price of each article, in this way, working asWhen, so that it may think that a distribution and one group of price are substantially at balance, owner
The state being satisfied in the main is reached, to the state for generally speaking also just having reached optimization.
Wherein: the process for realizing that target is reallocated online using auction algorithm is:
Step 1: killing probability matrix formula of reallocating is established,
P_onlineijIt represents in stage of reallocating online, the probability that i-th piece of guided missile successfully hits j-th of realization of goal,
Wherein PTgo_online(ij)WithCalculation formula it is as follows:
Wherein, Tgo_onlineIt (ij) is to assume i-th piece of guided missile with j-th of target for the required remaining flight that strikes target
Time value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation for striking target corresponding
Value；
Wherein: m is that guided missile number, n target number, and m are greater than n；Tgo_online(ij) andBy target
Tracking system provides, and above-mentioned calculating is using the strike information at target current time provided by Target Tracking System as with reference to letter
Breath is calculated；
Step 2: establishing a unallocated collection and an allocation set, the more pieces of guided missiles are put into unallocated collection, by institute
It states more pieces of guided missiles and " 0 " is initialized as to the killing probability value of each target；
Step 3: judging whether unallocated collection is empty, if unallocated collection is sky, exports final allocation result and complete again
Distribution；Otherwise, the 4th step is executed；
Step 4: the reallocation killing probability matrix formula provided according to the first step calculates each piece of guided missile and corresponds to different mesh
Target kills probability value, is allocated according to auction algorithm: will kill bid of the probability value as this piece of guided missile to target, obtains
To the highest guided missile of target bid, the guided missile and the target are put into allocation set, return to third step.
For first sub-distribution, explanation is defined to killing probability matrix D_pre used in just distribution before penetrating first,
Specific value calculation method is as follows:
P_preijRepresent first allocated phase, the probability that i-th piece of guided missile successfully hits j-th of realization of goal before penetrating.
Wherein PTgo_pre(ij)WithCalculation formula it is as follows:
Wherein, Tgo_preIt (ij) is when assuming that i-th piece of guided missile with j-th target is remaining flight required for striking target
Between predicted value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation for striking target corresponding
Predicted value, this two parameters are provided by Target Tracking System, it should be noted that are with mesh when computationally stating parameter
Target prediction strike information provided by mark tracking system is calculated as reference information.
On the basis of above-mentioned D_pre, the allocation algorithm of the just sub-distribution is using genetic algorithm, to friendship therein
Pitch probability PdWith mutation probability PmIt carries out adaptively selected, is respectively as follows:WithAnd meet:
The flow chart of improved adaptive GA-IAGA is as shown in figure 3, genetic algorithmic procedures are:
Step 1: establishing initial chromosome population；
Step 2: judging whether the termination condition of algorithm meets, search result is exported if meeting；Otherwise step below is executed
Suddenly；
Step 3: carrying out DBSCAN cluster (Density-Based Spatial Clustering of to whole chromosomes
Applications with Noise has noisy density clustering method), intersect according to cluster result general
Rate PdWith mutation probability PmIt is adaptively selected；
Step 4: carrying out duplication operation according to adaptively selected value；
Step 5: according to crossover probability P selected in third stepdCrossover operation is executed to chromosome；
Step 6: according to mutation probability P selected in third stepmMutation operation is executed to chromosome；
Step 6: returning to second step；
Above-mentioned process is traditional genetic algorithm process, and related algorithm sufficiently discloses, and no longer does excessive explanation herein.
This patent is directed to traditional genetic algorithm crossover probability PdWith mutation probability PmAdaptive impovement is carried out for constant, no longer using fixation
PdAnd PmOperation is carried out, can realize fast convergence on the basis of guaranteeing population diversity.
Wherein: described to establish initial chromosome population and be:
Step 1: determining the relationship of chromosome and guided missile and target, it may be assumed that decimal representation mode is used, it is long with chromosome
Degree is equal to guided missile sum m, and each chromosome is rearranged object element, some mesh of each gene representation by guided missile number order
It is that mark distributes to a guided missile as a result, such as guided missile sum m is 10, target sum n is 6, a chromosome form are as follows: [2 54
2 1 3 6 5 1 4]
Indicate that by the 2nd Target Assignment, to the 1st guided missile, the 5th Target Assignment gives the 2nd guided missile, the 4th Target Assignment
To the 3rd guided missile, and so on, chromosomal gene value range is [1, n].
The termination condition of chromosome in initial population therein are as follows: it is required that each target is at least assigned 1 piece of guided missile, simultaneously
It is required that each piece of guided missile must all be assigned to target；
Step 2: above-mentioned relation is established fitness function relational expression, fitness function f are as follows:
Wherein:
P_preijRepresentative first allocated phase before penetrating, the probability that i-th piece of guided missile successfully hits j-th of realization of goal,
Specific value calculation method is as follows:
Wherein PTgo_pre(ij)WithCalculation formula it is as follows:
Wherein, Tgo_preIt (ij) is when assuming that i-th piece of guided missile with j-th target is remaining flight required for striking target
Between predicted value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation for striking target corresponding
Predicted value, parameter Tgo_pre(ij) withIt is provided by Target Tracking System, above-mentioned calculating is with Target Tracking System
Provided target prediction strike information is calculated as reference information, in which: m is guided missile number, n target number, and m is big
In n.
Wherein: the crossover probability P described in above-mentioned third stepdWith mutation probability PmAdaptively selected mode are as follows:
If being judged as that chromosome is same class via DBSCAN algorithm, the fitness letter of whole chromosomes is calculated first
Number result simultaneously calculates its mean value fmean, it is greater than f at this point for fitness function resultmeanChromosome, crossover probability PdAnd change
Different probability PmSelection are as follows:WithAnd then execute subsequent calculating；And f is less than for fitness function resultmeanDyeing
Body, crossover probability PdWith mutation probability PmSelection are as follows:WithAnd then execute subsequent calculating；
If being judged as that chromosome is not same class via DBSCAN algorithm, to the crossover probability P of whole chromosomesdWith
Mutation probability PmSelection are as follows:WithAnd then execute subsequent calculating.
Wherein, for the termination condition of genetic algorithm, it is contemplated that when practical operation, it is desirable that can be completed in finite time
Target Assignment.So the algorithm termination condition of this project is using " specified genetic evolution algebra " and " preferably solves in constant generations
Quality no longer improve " combine.When meeting termination condition, the maximum chromosome conduct of fitness value in current group is exported
The solution of problem, fitness value are the total benefit value of the allocation plan.
Claims (6)
1. a kind of more bullets cooperate with multistage target assignment method, which is characterized in that first according to provided by Target Tracking System
Target prediction information carries out just sub-distribution to more pieces of guided missiles and multiple targets, more pieces of guided missiles according to setting the first method of salary distribution into
Row transmitting carries out more pieces of guided missiles and more according to target information at this time when guided missile and target relative distance are less than preset threshold
The online reallocation of a target.
2. more bullets according to claim 1 cooperate with multistage target assignment method, which is characterized in that described to work as guided missile and mesh
When marking relative distance and being less than preset threshold, be one piece of guided missile in more pieces of guided missiles and target relative distance be less than preset threshold when
It carves.
3. more bullets according to claim 1 or 2 cooperate with multistage target assignment method, which is characterized in that the line divides again
Be using auction algorithm realize target reallocate online.
4. more bullets according to claim 3 cooperate with multistage target assignment method, which is characterized in that described to be calculated using auction
The process that method realizes that target is reallocated online is:
Step 1: killing probability matrix formula of reallocating is established,
P_onlineijIt represents in stage of reallocating online, the probability that i-th piece of guided missile successfully hits j-th of realization of goal,
Wherein PTgo_online(ij)WithCalculation formula it is as follows:
Wherein, Tgo_onlineIt (ij) is to assume i-th piece of guided missile with j-th of target for the required residual non-uniformity that strikes target
Value,To assume that i-th piece of guided missile with j-th of target is the sight angular velocity of rotation value for striking target corresponding；
Wherein: m is that guided missile number, n target number, and m are greater than n；Tgo_online(ij) andBy target following
System provide, above-mentioned calculating be using the strike information at target current time provided by Target Tracking System as reference information into
Row calculates；
Step 2: establishing a unallocated collection and an allocation set, the more pieces of guided missiles are put into unallocated collection, it will be described more
Piece guided missile is initialized as " 0 " to the killing probability value of each target；
Step 3: judging whether unallocated collection is empty, if unallocated collection is sky, exports final allocation result completion and divide again
Match；Otherwise, the 4th step is executed；
Step 4: the reallocation killing probability matrix formula provided according to the first step calculates each piece of guided missile and corresponds to different target
Probability value is killed, is allocated according to auction algorithm: bid of the probability value as this piece of guided missile to target will be killed, obtained to mesh
The highest guided missile of valence is marked, the guided missile and the target are put into allocation set, return to third step.
5. more bullets according to claim 1 cooperate with multistage target assignment method, which is characterized in that the just sub-distribution
Allocation algorithm is using genetic algorithm, to crossover probability P thereindWith mutation probability PmIt carries out adaptively selected, is respectively as follows:WithAnd meet:
The genetic algorithmic procedures are:
Step 1: establishing initial chromosome population；
Step 2: judging whether the termination condition of algorithm meets, search result is exported if meeting；Otherwise below step is executed；
Step 3: carrying out DBSCAN cluster to whole chromosomes, crossover probability P is carried out according to cluster resultdWith mutation probability Pm's
It is adaptively selected；
Step 4: carrying out duplication operation according to adaptively selected value；
Step 5: according to crossover probability P selected in third stepdCrossover operation is executed to chromosome；
Step 6: according to mutation probability P selected in third stepmMutation operation is executed to chromosome；
Step 6: returning to second step；
Wherein: described to establish initial chromosome population and be:
Step 1: determining the relationship of chromosome and guided missile and target, it may be assumed that decimal representation mode is used, with chromosome length etc.
In guided missile sum m, each chromosome is rearranged into object element, some target of each gene representation point by guided missile number order
One guided missile of dispensing as a result, in initial population therein chromosome termination condition are as follows: it is required that each target at least be assigned 1
Piece guided missile, while requiring each piece of guided missile that must all be assigned to target；
Step 2: above-mentioned relation is established fitness function relational expression, fitness function f are as follows:
Wherein:
P_preijThe first allocated phase before penetrating is represented, the probability that i-th piece of guided missile successfully hits j-th of realization of goal is specific
Numerical computation method is as follows:
Wherein PTgo_pre(ij)WithCalculation formula it is as follows:
Wherein, Tgo_preIt (ij) is to assume that i-th piece of guided missile is pre- for the required residual non-uniformity that strikes target with j-th of target
Measured value,For assume i-th piece of guided missile with j-th of target be strike target corresponding sight angular velocity of rotation prediction
Value, parameter Tgo_pre(ij) withIt is provided by Target Tracking System, above-mentioned calculating is mentioned with Target Tracking System
The target prediction strike information of confession is calculated as reference information, in which: m is that guided missile number, n target number, and m are greater than n.
6. more bullets according to claim 5 cooperate with multistage target assignment method, which is characterized in that handed over described in third step
Pitch probability PdWith mutation probability PmAdaptively selected mode are as follows:
If being judged as that chromosome is same class via DBSCAN algorithm, the fitness function knot of whole chromosomes is calculated first
Fruit simultaneously calculates its mean value fmean, it is greater than f at this point for fitness function resultmeanChromosome, crossover probability PdIt is general with variation
Rate PmSelection are as follows:WithAnd then execute subsequent calculating；And f is less than for fitness function resultmeanChromosome,
Its crossover probability PdWith mutation probability PmSelection are as follows:WithAnd then execute subsequent calculating；
If being judged as that chromosome is not same class via DBSCAN algorithm, to the crossover probability P of whole chromosomesdAnd variation
Probability PmSelection are as follows:WithAnd then execute subsequent calculating.
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