论文部分内容阅读
为研究海洋环境下的无人飞行器(UAV)航迹规划问题,提出了一种基于差分进化算法(DE)的航迹规划方法。该方法通过对规划环境进行预处理将岛屿处理成地形威胁区,使问题简化为二维平面规划。采用实数编码方式对航迹进行编码,建立了航迹代价函数的数学模型,从航迹质量、算法稳定性和收敛速度3个方面比较了DE与遗传算法(GA)和粒子群优化算法(PSO)的性能。仿真实验结果表明,所提方法能在复杂的海洋环境下为飞行器规划出一条安全的可飞航迹。
In order to study the trajectory planning of unmanned aerial vehicle (UAV) in marine environment, a trajectory planning method based on differential evolution (DE) algorithm is proposed. The method reduces the problem to a two-dimensional plan by preprocessing the planning environment to treat the island as a terrain threat area. The real-time coding method is used to encode the trajectory, and a mathematic model of the trajectory cost function is established. Compared with genetic algorithm (GA) and particle swarm optimization (PSO), the trajectory quality, algorithm stability and convergence speed are compared. ) Performance. Simulation results show that the proposed method can plan a safe flight path for the aircraft in a complex marine environment.