森林消防无人机避障航迹算法研究  

Research on Obstacle Avoidance Trajectory Algorithm for Forest Fire-fighting UA Vs

作　　者：张栋杰 陈高华[1] 高晓霞 ZHANG Dong-jie;CHEN Gao-hua;GAO Xiao-xia(College of Electronic and Information Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《计算机仿真》2025年第3期74-82,共9页Computer Simulation

基　　金：太原科技大学科研启动基金资助项目(20222026)。

摘　　要：针对森林消防无人机人工规划的飞行航线很容易与理论的航线发生偏离的问题,提出一种基于改进狼群算法全局航迹规划和基于改进RRT算法局部避障航迹规划的方法。首先,利用三维数字地图模拟山地森林地形建立航迹规划模型。然后,针对狼群算法在无人机全局航迹规划中存在的不足,分别从种群初始化、智能行为的步长进行改进,并利用改进狼群算法实现无人机全局航迹规划。最后,在全局航迹规划的基础上,建立突发静、动态障碍物航迹规划模型,提出改进RRT算法,并利用改进RRT算法实现无人机局部避障航迹规划。对比试验结果表明,在全局航迹规划方面,改进狼群算法的初始解更优,收敛速度更快,航迹规划长度更短。在局部航迹规划方面,面对静态障碍,改进RRT算法搜索精度高、搜索速度快,规划出的航迹平滑、距离短;面对动态障碍,改进RRT算法依据不同的碰撞模型,均可判断出无人机是否需要进行局部航迹重新规划。Aiming at the problem that the artificial flight path planning of forest fire fighting UAV is easy to deviate from the theoretical flight path,a method of global flight path planning based on improved Wolf pack algorithm and local obstacle avoidance flight path planning based on improved RRT algorithm is proposed.Firstly,the track planning model is established by using 3D digital map to simulate mountain forest terrain.Then,in view of the shortcomings of Wolf pack algorithm in UAV global flight path planning,the steps of population initialization and intelligent behavior are improved,and the improved Wolf pack algorithm is used to realize UAV global flight path planning.Finally,based on global flight path planning,a sudden static and dynamic obstacle flight path planning model is established,an improved RRT algorithm is proposed,and the improved RRT algorithm is used to realize local obstacle avoidance flight path planning of UAV.The experimental results show that the improved Wolf pack algorithm has better initial solution,faster convergence speed and shorter track planning length.In terms of local track planning,in the face of static obstacles,the improved RRT algorithm has high search accuracy,fast search speed,smooth planned track and short distance.In the face of dynamic obstacles,the improved RRT algorithm can determine whether the UAV needs local track replanning according to different collision models.

关 键 词：改进狼群算法 改进快速搜索树算法 突发障碍 无人机航迹规划 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]