无人机三维航迹规划算法研究  

Study on the Algorithm for Three Dimensional Path Planning of UAV

作　　者：牛治永[1] 李锦军[2] 岳冬梅[1] 王军[1] 

机构地区：[1]海军大连舰艇学院装备自动化系,辽宁大连116018 [2]海军蚌埠士官学校信息技术系,安徽蚌埠233012

出　　处：《自动化技术与应用》2013年第11期1-5,共5页Techniques of Automation and Applications

基　　金：国家自然科学基金项目(50875210);海军大连舰艇学院科研发展基金项目(2012024)

摘　　要：在模拟仿真出无人机三维飞行环境的基础上,根据航迹规划的要求,建立对应数学模型,并采用蚁群算法进行优化仿真。针对基本蚁群算法存在的搜索时间长、容易陷入局部最优解等缺点,将蚂蚁当前位置与目标位置的距离信息反馈到系统中作为航迹规划的控制信息,同时对航迹节点的选择方法进行改进,以提高算法的效率。仿真实例结果表明,该算法可以规划出满足无人机飞行要求的航迹。The model of three dimensional path planning of UAV is analyzed first of all.Then an optimization of path planning with ant algorithm for UAV is given.Because that the problems of traditional ant colony algorithm are searching so long and getting into local solutions easily,the message of distance to the target is introduced in the system as a searching guidance signal,and a modified nodes selection method is also given.The algorithm is implemented with computer simulation.The results of the simulation confirm the feasibility and efficiency of the algorithm.

关 键 词：无人机 三维航迹规划 改进蚁群算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]