摘要
针对现有航迹规划算法存在的寻优能力不强、对三维航迹规划效果不佳的问题,将一种新型启发式优化算法——蝗虫算法引入无人机三维航迹规划。首先对蝗虫算法的基本原理、参数选择进行分析;然后建立三维作战场景,设计约束条件和航迹评价指标,利用地形、约束条件等缩短搜索空间;最后给出基于蝗虫算法的三维航迹规划流程,并在设定场景下进行算法性能分析。仿真结果表明,在设定的三维作战场景下,蝗虫算法可以有效地规划出合理的航迹;与灰狼算法和蚁狮算法相比,在航迹代价、耗时等方面具有更优的性能。
For the poor optimizing ability of the existing path planning algorithm and three-dimensional path planning effect,a new heuristic optimization algorithm,the grasshopper algorithm,is introduced into the three-dimensional path planning of the UAV.First,analyze the basic principles and parameter selection of the grasshopper algorithm;then establish a three-dimensional battle scene,design constraint conditions and path evaluation indicators,and use the terrain,constraints,etc.to shorten the search space.Finally,a three-dimensional path planning process based on the grasshopper algorithm is given to perform algorithm performance analysis in the setting scenario.The simulation results show that the grasshopper algorithm can effectively plan a reasonable trajectory under the set of three-dimensional combat scenarios.Compared with the grey wolf algorithm and the ant-lion algorithm,the grasshopper algorithm has better performance in terms of path cost and time-consuming.
作者
程泽新
李东生
高杨
CHENG Ze-xin;LI Dong-sheng;GAO Yang(College of Electronic Engineering,National University of Defense Technology,Hefei 230037,China)
出处
《飞行力学》
CSCD
北大核心
2019年第2期46-50,55,共6页
Flight Dynamics
基金
国家自然科学基金资助(61179036)
国防科技创新特区基金资助(1716311ZT00401402)
关键词
无人机
航迹规划
三维航迹
蝗虫算法
UAV
path planning
three-dimensional path
grasshopper algorithm
