基于空间变形的无人机路径规划算法研究  

Research on UAV Path Planning Algorithm Based on Space Deformation

作　　者：肖志慧 刘久富[1] 王志胜[1] 赖幸君 林磊 XIAO Zhihui;LIU Jiufu;WANG Zhisheng;LAI Xingjun;LIN Lei(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;The State Radio Monitoring Center Testing Center,Beijing 100041,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]国家无线电监测中心检测中心,北京100041

出　　处：《弹箭与制导学报》2022年第6期68-74,共7页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：由于所处的环境较为复杂,因此无人机进行安全的路径规划至关重要,但规划生成的路径中有许多不适用的急转弯。针对此问题,使用基于空间变形的混合算法,即通过灰狼算法获得全局路径,利用空间变形算法获得最佳规划路径,以保证无人机的安全飞行。仿真结果表明,该方法能够顺利实现无人机的路径规划,且具有较好的平滑性和安全性,验证了所提算法的优越性。Due to the complex environment of unmanned aerial vehicles(UAV), safe path planning is very important. Most of the planned paths have many sharp turns that are not applicable. To address this problem, a hybrid algorithm based on spatial deformation is used to obtain the best planning path. The algorithm uses the spatial deformation algorithm to obtain the optimal planning path to ensure the safe flight of UAV. The final simulation results show that this method can successfully realize the path planning of UAV, and has good smoothness and security, which verifies the superiority of the proposed algorithm.

关 键 词：空间变形 灰狼算法 路径平滑 路径规划 

分 类 号：TJ85[兵器科学与技术—武器系统与运用工程] TP273.3[自动化与计算机技术—检测技术与自动化装置]