基于协同进化的多无人机航迹规划研究  

Study on Path Planning by Cooperative Evolution for Multiple Unmanned Air Vehicles

作　　者：李世晓[1] 朱凡[1] 刘希[1] 刘杰[1] 

机构地区：[1]空军工程大学航空航天工程学院,西安710038

出　　处：《计算机仿真》2013年第9期96-100,共5页Computer Simulation

摘　　要：关于多无人机航迹优化研究,针对复杂环境下多无人机(UAV)系统的航迹规划,达到摧毁目标最大化,解决不同无人机之间的协同和防撞问题,提出了一种利用合作型协同进化算法的多无人机三维航迹规划方法。利用数字地图建立了无人机安全飞行曲面,采用并行进化的方案,将每个无人机航迹规划当作一个子问题,通过协同函数和无人机间的防撞设计实现各无人机间的时间协同和空间防撞。各子种群采用自适应的进化方法,在保持多样性的同时,保证了算法收敛的快速性。仿真结果表明,算法有效实用,能快速得到各无人机的低空突防三维航迹,可为多无人机航迹优化提供手段。In order to solve the cooperation and collision problem between UAVs,a method of path planning based on cooperative evolution was put forward for multiple UAVs path planning under complex environment.The safe-flying surface was established based on digital map.We treated the path planning for each UAV as a sub-problem and used the method of parallel evolution.The coordinative function and colliding avoidance between UAVs were designed to realize the time-coordination and colliding avoidance.In each species,self-adapting evolution method was adopted to make sure the convergence of algorithm as well as the diversity.Simulation results show that the algorithm is practical and effective,and the method can quickly get the low altitude penetration 3-d path for each UAV.

关 键 词：航迹规划 协同进化 安全飞行曲面 防撞设计 多无人机 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]