[1]王锦博,宋 伟,尚 帅,等.基于改进粒子群算法的无人直升机航路规划[J].机械与电子,2021,(06):66-69.
　WANG Jinbo,SONG Wei,SHANG Shuai,et al.Route Planning of Unmanned Helicopter Based on Improved Particle Swarm Optimization[J].Machinery & Electronics,2021,(06):66-69.
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基于改进粒子群算法的无人直升机航路规划()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年06期
页码:
66-69
栏目:
智能工程
出版日期:
2021-06-23

文章信息/Info

Title:
Route Planning of Unmanned Helicopter Based on Improved Particle Swarm Optimization
文章编号:
１００１-２２５７ ( ２０２１ ) ０６-００６６-０４
作者:
王锦博; 宋 伟; 尚 帅; 兰庭信; 盛守照
南京航空航天大学自动化学院,江苏 南京 ２１００１６
Author(s):
WANG Jinbo ;  SONG Wei ;  SHANG Shuai ;  LAN Tingxin ;  SHENG Shouzhao
( College of Automation Engineering , Nanjing University of Aeronautic and Astronautics , Nanjing ２１００１６ , China )
关键词:
无人直升机; 航路规划; 改进粒子群算法; 代价函数
Keywords:
unmanned helicopter ;  route planning ;  improved particle swarm optimization ;  cost function
分类号:
P３９１.９ ; V２４９
文献标志码:
A
摘要:
针对山区环境下无人直升机航路规划的问题,提出了一种改进粒子群算法.首先建立航路规划数学模型,将路径长度、飞行高度和威胁指数引入适应度函数;然后采用惯性权重因子调节算法的全局和局部搜索能力,利用选择操作和杂交操作增加种群的多样性,避免陷入局部最优;最后当种群陷入局部极值时,采用变异算子跳出局部最优解.将该算法和传统粒子群算法比较,仿真结果表明,该算法可以避免陷入局部最优,缩短搜索时间,较快得到全局最优路径.
Abstract:
Aiming at the problem of unmanned helicopter route planning in mountainous environment ,an improved particle swarm algorithm is proposed．First , a mathematical model of route planning is established , path length , flight height , and threat index are introduced into the fitness function ; then the inertia weight factor is used to adjust the global and local search capabilities of the algorithm , selection operations and hybrid operations are used to increase the diversity of the population and avoid falling into local optimal ; Finally , when the population falls into a local extreme value , the mutation operator is used to jump out of the local optimal solution．Comparing the algorithm with the traditional particle swarm algorithm , the simulation results show that the algorithm can avoid falling into the local optimum , shorten the search time , and obtain the global optimum path faster．

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: ２０２１-０１-０６
基金项目:南京航空航天大学国防重大项目培育基金( NP２０１８４５ )
作者简介:王锦博 ( １９９６－ ),男,河南许昌人,硕士研究生,研究方向为先进飞行器导航与控制;宋 伟 ( １９９５－ ),男,江苏宿迁人,硕士研究生,研究方向为伺服控制;尚 帅 ( １９９６－ ),男,江苏徐州人,硕士研究生,研究方向为机器人车辆控制;兰庭信 ( １９９５－ ),男,福建南平人,硕士研究生,研究方向为先进飞行器导航与控制;盛守照 ( １９７７－ ),男,江苏南京人,教授,研究方向为飞行控制技术,通信作者.
更新日期/Last Update: 2021-06-22