沈阳工业大学学报2011，Vol.33Issue(5)：570-575,6.
一种改进蚂蚁算法的无人机多目标三维航迹规划
Multi-objective 3D path planning of unmanned aerial vehicle based on improved ant algorithm
摘要
Abstract
The traditional standard ant and A＊ algorithms need to set the navigation node and establish the VORONOI map in solving the multi-objective 3D path planning of unmanned aerial vehicle（UAV）.To solve the above-mentioned problem,an improved ant algorithm was proposed.In the proposed algorithm,the guidance factor was introduced into the state transition strategy to reduce the blindness of local ant search,to ensure the formation of effective flight path and to solve two difficult problems in the application of the present algorithm for path planning,namely the non-fixing of path node and hard arriving of local search at target node.The constraint conditions such as maximum and effective action distances of radar,missile,artillery and atmosphere threat model were introduced into the calculation of both cost function and heuristic factor to solve the difficult multi-constrained solution of path planning.The simulation results show that the proposed algorithm has the reasonable structure,and can autonomously search out the target node without both navigation node and VORONOI map.Moreover,the convergence speed of the algorithm can meet the demand of path planning with less path cost.关键词
蚂蚁算法/航迹规划/无人机/威胁代价/油耗代价/导引因子/导航节点/VORONOI图Key words
ant algorithm/path planning/unmanned aerial vehicle/threat cost/fuel consumption cost/guidance factor/navigation node/VORONOI map分类
信息技术与安全科学引用本文复制引用
胡中华,赵敏,姚敏,李可现,吴蕊..一种改进蚂蚁算法的无人机多目标三维航迹规划[J].沈阳工业大学学报,2011,33(5):570-575,6.基金项目
国家自然科学基金资助项目 （）
航空科学基金资助项目 （）
南京航空航天大学基本科研业务费专项研究基金资助项目 （）
