基于改进人工鱼群算法的城市物流无人机航线规划  

Route planning of urban logistics UAV based on improved artificial fish swarm algorithm

作　　者：岳仁田[1] 侯博文 YUE Rentian;HOU Bowen(College of Air Trafic Management,CAUC,Tianjin 300300,China;Institute of New Navigation,China Academy of Civil Aviation Science and Technology,Beijing 100028,China)

机构地区：[1]中国民航大学空中交通管理学院,天津300300 [2]中国民航科学技术研究院航行新技术研究所,北京100028

出　　处：《中国民航大学学报》2025年第1期89-96,共8页Journal of Civil Aviation University of China

基　　金：中央高校基本科研业务费专项(3122022103);天津市应用基础研究多元投入基金项目(21JCYBJCO0700)。

摘　　要：为了安全、高效地解决物流无人机(UAV,unmanned aerial vehicle)三维空间航线规划问题,首先,本文在考虑空间避障和地面人口密度的基础上通过改进栅格法对规划环境进行建模,以航程代价、栅格风险值代价和高度调整代价之和最小作为目标函数建立物流UAV航线规划模型,并根据UAV性能设置约束条件。其次,对标准人工鱼群算法(AFSA,artificial fish swarm algorithm)进行改进,增加鱼群跳跃行为和栅格禁忌表,利用改进AFSA对模型进行求解。最后,通过仿真算例将改进后的AFSA与其他3种算法进行了对比并对改进后的AFSA进行了参数灵敏度分析。结果表明:改进后的AFSA在收敛速度上优于其他3种算法,相对于标准AFSA收敛时间降低了9.9%;设置较大的感知范围参数值,航线规划效率更高,在设置步长参数时则需要根据规划环境进行调整。改进后的AFSA可为提升物流UAV三维空间航线规划效率提供借鉴。In order to safely and efficiently solve the problem of three-dimensional spatial route planning for logistics un-manned aerial vehicles(UAV),this paper first models the planning environment by improving the grid method based on spatial obstacle avoidance and ground population density.The route planning model for logistics UAV is established with the objective function of minimizing the sum of distance cost,grid risk value cost and height ad-justment cost,and constraints are set according to UAV performance.Secondly,the standard artificial fish swarm algorithm(AFSA)is improve by adding fish swarm jumping behavior and grid taboo table,and the improved AFSA is employed to solve the model.Finally,the improved AFSA was compared with three other algorithms through simulation examples and parameter sensitivity analysis was conducted on the improved AFSA.The results show that the improved AFSA had better convergence speed than the other three algorithms,with a 9.9%reduction in convergence time compared to the standard AFSA.Seting larger perception range parameter values resulted in higher efficiency in route planning,while the step size parameter need to be adjusted according to the planning en-vironment.The improved AFSA can provide reference for improving the efficiency of logistics UAV three-dimen-sional spatial route planning.

关 键 词：物流无人机(UAV) 航线规划 人工鱼群算法(AFSA) 栅格风险值 

分 类 号：V279[航空宇航科学与技术—飞行器设计]