基于多策略改进灰狼算法的多无人机三维路径规划  

Multi-Drone 3D Path Planning Based on Multi-Strategy Improved Grey Wolf Algorithm

作　　者：许子俍 胡涛[1] 刘凯越 安乐宁 杨思为 Xu Ziliang;Hu Tao;Liu Kaiyue;An Lening;Yang Siwei(University of Information Engineering,Zhengzhou 450000,China;Unit 66389 of PLA,Zhengzhou 450000,China)

机构地区：[1]信息工程大学,郑州450000 [2]中国人民解放军66389部队,郑州450000

出　　处：《航空兵器》2024年第6期86-93,共8页Aero Weaponry

摘　　要：多无人机三维路径规划旨在满足约束且规避威胁的基础上给出各个无人机到自身目标合理可行的飞行路径。针对当前元启发式算法在求解多约束、多威胁三维空间路径规划时搜索速度慢、规划路径质量差的问题,提出一种基于多策略改进灰狼优化算法的路径规划方法。使用数字高程模型完成三维空间环境建模,结合飞行场景建立包含长度、威胁、高度、平滑多因素综合评价函数。通过复合混沌序列和准反向学习策略优化初始种群,基于迭代阶段上层狼对种群收敛的关键影响,使用精英狼凸透镜反射学习策略提升算法规避局部最优解能力。仿真实验表明,多策略改进灰狼优化算法综合评价函数统计结果的最优值、平均值、最差值三项指标相较原算法分别提升了6.1%,5.1%和13.3%,验证了本文方法在多约束、多威胁的三维空间路径规划问题求解时的有效性。Multiple UAV three-dimensional path planning aims to provide reasonable and feasible flight paths for each UAV to its target while satisfying constraints and avoiding threats.Addressing the issues of slow search speed and poor path quality of current metaheuristic algorithms in solving multi-constraint and multi-threat three-dimensional spatial path planning,a path planning method based on a multi-strategy improved grey wolf optimization algorithm is proposed.Digital elevation models are used to complete three-dimensional spatial environment modeling,and a comprehensive evaluation function incorporating factors such as length,threat,height,and smoothness is established based on the flight scenario.By optimizing the initial population using a composite chaotic sequence and quasi-reverse learning strategy,and considering the crucial impact of upper-level wolves on population convergence in iterative stages,the algorithm’s ability to avoid local optima is enhanced using the elite wolf convex lens reflection learning strategy.Simulation experiments show that the multi-strategy improved grey wolf optimization algorithm improves the optimal,average,and worst values of the comprehensive evaluation function statistics by 6.1%,5.1%,and 13.3%,respectively,compared to the original algorithm.This validates the effectiveness of the proposed method in solving multi-constraint and multi-threat three-dimensional spatial path planning problems.

关 键 词：多无人机 三维路径规划 灰狼优化算法 复合混沌序列 准反向学习 精英狼凸透镜反射学习 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程]