复合形引导蜂群寻优的无人机航迹多目标规划  

Unmanned Air Vehicle Route Multi-Object Planning Based on Bee Colony Algorithm Guided by Complex Form

作　　者：刘刚[1] 裴红蕾[1] LIU Gang;PEI Hong-lei(Wuxi Vocational Institute of Arts&Technology,Jiangsu Yixing214200,China)

机构地区：[1]无锡工艺职业技术学院,江苏宜兴214200

出　　处：《机械设计与制造》2020年第4期253-257,共5页Machinery Design & Manufacture

基　　金：江苏省大学生创新创业训练计划项目(201713749001Y)。

摘　　要：为了提高无人机导航路径规划的精度和稳定性,提出了复合形引导蜂群寻优的无人机航迹多目标优化方法。使用坐标变换方法,将二维规划问题降为一维;建立了航迹规划的目标函数与约束条件;在传统人工蜂群基础上,改进了蜜源初始化方法,使前后航迹点相互关联,提高航迹可行率;为了提高收敛速度,改进了雇佣蜂和观察蜂的蜜源搜索方式,提出了随机搜索与最优蜜源引导相结合的位置更新方式;提出了Metropolis准则改进观察蜂蜜源选择策略,有利于算法跳出局部最优、保留潜在最优;使用复合形法引导蜂群整体向优质蜜源运动,提出了复合形引导蜂群寻优算法。经仿真验证,与传统算法和混沌扰动算法相比,复合形引导蜂群算法的收敛迭代次数分别减少了4倍和6倍,寻优时间降低了约一个数量级,且规划航迹更优、稳定性更好。In order to improve accuracy and stability of UAV navigation route planning,multi-objective optimizing method based on artificial bee colony algorithm optimizing guided by complex form is proposed.Coordinate transformation is used to reduce two-dimensional programming to one-dimensional.Objective function and constraint condition of route planning are built.On basis of traditional artificial bee colony algorithm,honey source initialization method is improved to make the front and rear point correlate with each other,which can improve route feasible ratio.To improve convergence rate,honey source searching method of employed bees and onlookers is improved,and location update mode combined with random searching and optimal honey source guided searching is put forward.Metropolis Guidelines is used to improve honey source choosing strategy,which benefits to jump out of local optimization and keep the potential optimality.Complex form guides the bee colony to search the optimal again,so that artificial bee colony algorithm optimizing guided by complex form is presented.Clarified by simulation,compared with traditional algorithm and chaos perturbation method,convergence iterations of algorithm guided by complex form decrease by 4 and 6 times,optimizing time reduces by one order of magnitude.Navigation route planned by improved algorithm is preferable,and more stable.

关 键 词：无人机 导航路径规划 复合形引导人工蜂群寻优 最优蜜源引导 METROPOLIS准则 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]