基于改進(jìn)蟻獅算法的無(wú)人機(jī)三維航跡規(guī)劃

黃長(zhǎng)強(qiáng); 趙克新

doi:10.11999/JEIT170961

基于改進(jìn)蟻獅算法的無(wú)人機(jī)三維航跡規(guī)劃

doi: 10.11999/JEIT170961 cstr: 32379.14.JEIT170961

(空軍工程大學(xué)航空航天工程學(xué)院西安 710038)

基金項(xiàng)目:

國(guó)家自然科學(xué)基金(61601505)，航空科學(xué)基金(20155196022)

詳細(xì)信息

作者簡(jiǎn)介:
黃長(zhǎng)強(qiáng)：男，1961年生，教授，博士生導(dǎo)師，研究方向?yàn)闊o(wú)人機(jī)總體設(shè)計(jì)與技術(shù). 趙克新：男，1992年生，碩士生，研究方向?yàn)闊o(wú)人機(jī)武器系統(tǒng)設(shè)計(jì).

中圖分類號(hào): V279
計(jì)量
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- 被引次數(shù): 0
出版歷程
- 收稿日期: 2017-10-19
- 修回日期: 2018-03-21
- 刊出日期: 2018-07-19

Three Dimensional Path Planning of UAV with Improved Ant Lion Optimizer

HUANG Changqiang ZHAO Kexin

Funds:

The National Natural Science Foundation of China (61601505), The Aviation Science Foundation (20155196022)

摘要

摘要: 無(wú)人機(jī)3維航跡規(guī)劃是任務(wù)規(guī)劃中最復(fù)雜、重要的部分，針對(duì)基本蟻獅算法在解決3維航跡規(guī)劃時(shí)能力不足的問(wèn)題，首先在螞蟻的行為中引入混沌調(diào)節(jié)因子，在蟻獅的行為中引入反調(diào)節(jié)因子，提高了算法的探索能力和開(kāi)發(fā)能力；其次在建立3維環(huán)境模型的基礎(chǔ)上，充分利用地形和約束信息，縮減搜索空間；最后將改進(jìn)后的算法應(yīng)用于3維航跡規(guī)劃，并與原算法進(jìn)行對(duì)比, 實(shí)現(xiàn)在線局部重規(guī)劃。仿真實(shí)驗(yàn)結(jié)果驗(yàn)證了改進(jìn)方法的可行性和優(yōu)越性。
- 無(wú)人機(jī) /
- 3維航跡規(guī)劃 /
- 改進(jìn)蟻獅算法 /
- 局部重規(guī)劃
Abstract: Unmanned Aerial Vehicle (UAV) 3D path planning is the most complex and important part of mission planning. Considering at the problem that the problem of 3D path planning can not be solved by the original algorithm perfectly, so firstly the chaotic adjustment factor and anti-regulation factor are introduced into the behavior of ant and ant lion respectively, which improves the exploration and the exploitation of algorithm. Then, in order to reduce search space ,so terrain and constraints are full used on the basis of the establishment of 3D environment model. Lastly, the improved algorithm is applied to the 3D path planning, which is compared with the original algorithm, and online local re-planning is implemented. Simulation results demonstrate the feasibility and superiority of the improved method.
- Unmanned Aerial Vehicle (UAV)、Three-dimensional path planning、Ant Lion Optimizer (ALO)、Local re-planning /

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參考文獻(xiàn)(18)

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