[1]李晓萌,王道波,郭继凯,等.基于某种生物启发式算法的无人机航迹规划[J].机械与电子,2018,(11):15-19.
　LI Xiaomeng,WANG Daobo,GUO Jikai,et al.Path Planning of UAV Based on a Biological Heuristic Algorithm[J].Machinery & Electronics,2018,(11):15-19.
点击复制

基于某种生物启发式算法的无人机航迹规划
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年11期
页码:
15-19
栏目:
设计与研究
出版日期:
2018-11-24

文章信息/Info

Title:
Path Planning of UAV Based on a Biological Heuristic Algorithm
文章编号:
1001-2257(2018)11-0015-05
作者:
李晓萌; 王道波; 郭继凯; 杨 华; 王博航
(南京航空航天大学自动化学院,江苏 南京 211106)
Author(s):
LI Xiaomeng;  WANG Daobo;  GUO Jikai;  YANG Hua;  WANG Bohang
(College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China)
关键词:
无人机;  航迹规划;  威胁模型;  SSA算法
Keywords:
UAV;  path planning;  threat model;  SSA algorithm
分类号:
V249.1
文献标志码:
A
摘要:
无人机航迹规划问题是无人机实现自主飞行的重点和难点,本文提出了一种基于海洋生物启发式的算法,并将其应用于无人机航迹规划中。首先对飞行过程中的约束条件与威胁环境进行分析与建模,使用合适的规划空间方法,将种群初始化,根据位置更新策略不断进行种群迭代,使种群逐渐向最优解进化。仿真实验表明,该算法可有效提高全局搜索能力,避免陷入局部最优解,算法具有快速收敛和可靠性的特点,为无人机航迹规划研究提供了新思路。
Abstract:
Path planning is the difficult issue for UAV to achieve autonomous flight. An algorithm based on Marine biological heuristic was proposed and applied to UAV path planning. Firstly, the constraints and threat environment in the flight process were analyzed and modeled, the population was initialized by using the appropriate planning space method, and the population iteration was continuously performed according to the location update strategy to make the population gradually evolve to the optimal solution. The simulation results show that the algorithm can effectively improve the global search ability and avoid falling into the local optimal solution. The algorithm has the characteristics of fast convergence and reliability, and provides a new idea for the UAV path planning research.

参考文献/References:

[1] 郑昌文,严平,丁明跃,等. 飞行器航迹规划研究现状与趋势[J]. 宇航学报,2007,28(6): 1441-1446.
[2] 郭忠同,扈宏杰. 基于人工势场法的多无人机航迹规划[J]. 自动化应用, 2017, 30(9): 69-71.
[3] 于霜,丁力,吴洪涛. 基于改进人工蜂群算法的无人机的航迹规划[J]. 电光与控制,2017, 24(1): 19-23.
[4] 刘丽峰,张树清. 人工免疫算法规划复杂环境下三维飞行航迹[J]. 中国科学院研究生院学报, 2011, 28(6): 747-750.
[5] 李素娟. 无人机航路规划及评价方法研究[D]. 南京:南京航空航天大学,2012.
[6] 张淘沙,鲁艺,吕跃,等. 威胁联网下的飞行器航迹规划研究[J]. 电光与控制, 2014, 21(9): 29-33.
[7] HOSSAM F, MAJDI M. An efficient binary slap swarm algorithm with crossover scheme for feature selection problems [J]. Knowledge-Based Systems, 2018, 154: 43-67.
[8] 张帅, 李学仁, 张建业, 等. 基于动态步长的无人机三维实时航迹规划[J]. 北京航空航天大学学报, 2016, 42(12): 2745-2754.
[9] 尹高扬,周绍磊,吴青坡. 无人机快速三维航迹规划算法[J]. 西北工业大学学报, 2016, 34(4): 564-570.

相似文献/References:

[1]魏志强,葛 珊.无人机载光电吊舱双路视频压缩存储系统设计与实现[J].机械与电子,2019,(06):32.
　.Design and Realization of Dual-channel Video Compression Storage System for UAV Electro-optical Pod[J].Machinery & Electronics,2019,(11):32.
[2]陈斯昀１,蒋 刚２,留沧海２.六足机器人协同无人机大气数据分析系统[J].机械与电子,2019,(05):71.
　,The Atmospheric Data Analysis System of Hexapod Robot Collaborated with the Unmanned Aerial Vehicle[J].Machinery & Electronics,2019,(11):71.
[3]冷献春,曾俊杰.某型无人机卫通设备的环境适应性设计[J].机械与电子,2019,(02):45.
　.Environmental Adaptability Design of a Certain Type of UAV Satcom Equipment[J].Machinery & Electronics,2019,(11):45.
[4]许 军,张军红,荣海春.小型无人机火箭助推发射动态响应研究[J].机械与电子,2018,(01):15.
　XU Jun,ZHANG Junhong,RONG Haichun.Research on Dynamic Response of Rocket Booster Launching for Small Unmanned Aerial Vehicle[J].Machinery & Electronics,2018,(11):15.
[5]明瑞晨,李吉宽,李 刚,等.无人机纵向着舰下滑轨迹控制技术研究[J].机械与电子,2018,(08):44.
　MING Ruichen,LI Jikuan,LI Gang,et al.Research on Longitudinal Automatic Carrier Landing Control for Unmanned Aerial Vehicle[J].Machinery & Electronics,2018,(11):44.
[6]吴 斌,荣海春,王呈顺,等.某无人机载雷达挂架结构设计[J].机械与电子,2019,(12):26.
　,,et al.Structure Design of the Bracket Used in an Unmanned Aerial Vehicle Carried Radar[J].Machinery & Electronics,2019,(11):26.
[7]许 哲,张少帅,郭 璐,等.无人机深度学习去雾算法[J].机械与电子,2021,(04):13.
　XU Zhe,ZHANG Shaoshuai,GUO Lu,et al. Deep Learning Defogging Algorithm for UAV[J].Machinery & Electronics,2021,(11):13.
[8]黄 莺 １,张少帅 ２,黄 鹤 ２,等.无人机遥感山区公路图像去噪方法[J].机械与电子,2021,(09):66.
　HUANG Ying,ZHANG Shaoshua,HUANG He,et al.A Denoising Method of Remote Sensing Mountainous Road Image by UAV[J].Machinery & Electronics,2021,(11):66.
[9]夏生吉,王道波,罗东海,等.无人机跟踪过程中的避障问题研究[J].机械与电子,2022,(11):61.
　XIA Shengji,WANG Daobo,LUO Donghai,et al.UAV Standoff Tracking Research Based on Lyapunov Vector Field[J].Machinery & Electronics,2022,(11):61.
[10]范永学,李 雨,李 慧,等.输电线路检修无人机机械臂感知检测系统[J].机械与电子,2024,42(08):46.
　FAN Yongxue,LI Yu,LI Hui,et al.Transmission Line Maintenance UVA Robot Arm Perception Detection System[J].Machinery & Electronics,2024,42(11):46.

备注/Memo

备注/Memo:
收稿日期:2018-07-09
作者简介:李晓萌(1992-),女,安徽亳州人,硕士研究生,研究方向为导航、制导与控制; 王道波(1957-),男,河北易县人,教授,博士研究生导师,研究方向为无人机飞行控制与仿真、机电模拟技术、电动伺服控制技术、液压伺服技术。
更新日期/Last Update: 2018-11-24