基于改进人工蜂群算法的无人机航迹规划研究  

Research on Path Planning of UAV Based on Improved ABC Algorithm

作　　者：王庆海 刘广瑞[1] 郭珂甫 

机构地区：[1]郑州大学机械工程学院,河南郑州450001

出　　处：《机床与液压》2017年第21期68-72,共5页Machine Tool & Hydraulics

摘　　要：为应对无人机遇到的复杂任务状况,快速寻找一条可行较优航迹,通过改进初始化蜜源方式、引入模拟退火算法的Metropolis准则、引入复合形法等对人工蜂群算法进行改进,提出了一种基于改进人工蜂群算法的无人机航迹规划方法。针对无人机航迹规划问题建立数学模型,采用该改进人工蜂群算法进行寻优,并通过MATLAB进行仿真验证。仿真实验结果表明,该改进人工蜂群算法有效提高了无人机航迹规划的鲁棒性、收敛速度和精度。In order to confront the complex tasks of Unmanned Aerial Vehicles （UAV） and to find a feasible optimal path quickly, a UAV flight path planning method based on improved artificial bee colony （ABC） algorithm is put forward, which was obtained by improving the way of initialization nectar source, introduction of Simulation Annealing＇s metropolis criterion, introduction of complex method, and etc. The improved ABC was used for optimizing in the environment of MATLAB after establishing the mathematical model for UAV path planning problem. The simulations show that this ABC algorithm can improve the path planning＇s robustness, convergence speed and precision of UAV.

关 键 词：无人机 航迹规划 复合形法 METROPOLIS准则 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]