摘要
Choosing the best path during unmanned air vehicle （UAV） flying is the target of the UAV mission planning problem. Because of its nearly constant flight height, the UAV mission planning problem can be treated as a 2-D （horizontal） path arrangement problem. By modeling the antiaircraft threat, the UAV mission planning can be mapped to the traveling seaman problem （TSP）. A new algorithm is presented to solve the TSP. The algorithm combines the traditional ant colony system （ACS） with particle swarm optimization （PSO）, thus being called the AC-PSO algorithm. It uses one by one tour building strategy like ACS to determine that the target point can be chosen like PSO. Experiments show that AC-PSO synthesizes both ACS and PSO and obtains excellent solution of the UAV mission planning with a higher accuracy.
无人机飞行中合理的路线规划可以减小飞行时间、降低油耗,减小被敌方发现、攻击的可能,从而提高了完成任务的概率。鉴于大部分无人机是以一个相对固定的高度进行侦察和任务飞行,故可将无人机的飞行任务规划视为二维平面的TSP问题。本文进一步将地面防空威胁与飞行距离统一量化,通过求解TSP求取最优无人机任务规划。文中通过分析蚁群算法与粒子群算法,提出了一种新的混合方法AC-PSO算法解决TSP求解问题。算法借鉴了蚁群算法的路线构造方法和粒子群算法的进化策略思想,同时给出了提升算法效率的一些措施。实验验证,该算法和威胁建模方法相结合,能有效地满足无人机飞行任务规划的要求。
基金
航空科学基金(02F150001,01C15001)资助项目
教育部博士研究基金(20030287008)资助项目。~~
