基于分段随机和角度随机算法的无人机三维航路规划  

UAV Three-Dimensional Route Planning Based on Segment Random and Angle Random Algorithm

作　　者：郑波[1] 高峰[1] 马昕[2] 朱新宇[1] ZHENG Bo;GAO Feng;MA Xin;ZHU Xinyu(CInstitute of Electronic and Electrical Engineering,ivil Aviation Flight University of China,Guanghan 618000,China;College of Air Traffic Management,ivil Aviation Flight University of China,Guanghan 618000,China)

机构地区：[1]中国民用航空飞行学院航空电子电气学院,四川广汉618000 [2]中国民用航空飞行学院空中交通管理学院,四川广汉618000

出　　处：《电光与控制》2023年第7期82-90,共9页Electronics Optics & Control

基　　金：民航重点实验室自主研究项目(FZ2021ZZ04);民航教育人才类项目(14002600100018J034)。

摘　　要：提出了一种分段随机和角度随机(SRAR)的算法,用于复杂空间、多约束条件下的无人机三维航路规划。SRAR算法利用随机分段和随机角度确定航路点。同时,对有向线段角度进行规定,设计圆形障碍区避障方法、航路平滑方法以及多航路规划方法,提升航路规划质量,满足航路规划多样性要求。还提出了求解变长解的非关联迭代更新方法,实现对SRAR算法在多约束条件下的求变长解。通过对复杂空间下的航路规划质量验证,以及分别与蚁群算法、遗传算法和粒子群优化算法的比较,证明了SRAR算法的无人机航路规划的稳健性、高效性和通用性。This paper proposes a Segment Random and Angle Random(SRAR)algorithm for UAV􀆳s three-dimensional route planning under complex space and multiple constraints.SRAR algorithm uses random segments and random angles to determine the way points.Meanwhile,the angle of directional line segment is specified,and the circular obstacle avoidance method,route smoothing method and multi-route planning method are designed to improve the quality of route planning,and meet the diversity requirements of route planning.This paper also proposes an unassociated iterative updating method to solve the variable-length solution,which can obtain the variable-length solution under multiple constraints.By verifying the route quality in complex space,and comparing with ant colony algorithm,genetic algorithm and particle swarm optimization algorithm,the results can effectively prove that the SRAR algorithm is robust,efficient and universal for UAV􀆳s route planning.

关 键 词：分段随机和角度随机 避障方法 航路平滑 多航路规划 非关联迭代更新 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]