四旋翼无人机航径规划遗传算法研究  

Study on Genetic Algorithm for Flight Path Planning of Quadrotor UAV

作　　者：王世凯 耿振野[1] 刘智[1] 黄丹丹 李艳山 WANG Shikai;GENG Zhenye;LIU Zhi;HUANG Dandan;LI Yanshan(School of Electronics and Information Engineering,Changchun University of Science and Technology,Changchun 130022)

机构地区：[1]长春理工大学电子信息工程学院

出　　处：《长春理工大学学报（自然科学版）》2019年第3期80-84,90,共6页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：吉林省科技发展计划项目(20180201090GX);吉林省教育厅“十三五”科学技术项目(JJKH20170618KJ)

摘　　要：提出了一种改进遗传算法,用于对复杂环境中的四旋翼无人机进行航径规划。针对最优航径长度进行了方法改进,将航径长度、平滑度、安全性三者相结合,形成了一个目标航径规划问题。采用改进遗传算法来改善连续空间中的初始航径,并找到起始位置和目标位置之间的最佳航径。为了评估验证所提出改进算法的有效性,进行了大量的仿真实验。研究表明,改进后的遗传算法在航径长度、运行时间、成功率方面可以达到更好的效果,最后通过仿真,证明了该改进算法对四旋翼无人机航径规划问题的有效性。所提出的改进算法能够确定最优航径。In this paper, an improved genetic algorithm is proposed for path planning of four-rotor UAV in complex environment. The method is improved for the optimal flight path length,and a problem of target flight path planning is formed by the combination of the flight path length,smoothness and security. An improved genetic algorithm is used to improve the initial path in continuous space and find the optimal path between the initial position and the target position. In order to evaluate and verify the effectiveness of the proposed algorithm,a lot of simulation experiments are carried out. The study shows that the improved genetic algorithm can achieve better results in the aspect of flight path length,running time and success rate. Finally,the effectiveness of the improved algorithm for the flight path planning of quad-rotor UAV is demonstrated through simulation. The improved algorithm can determine the optimal path.

关 键 词：四旋翼无人机 目标航径规划 改进遗传算法 最优航径 

分 类 号：V279[航空宇航科学与技术—飞行器设计]