火力与指挥控制Issue(10)：30-35,6.
振动遗传算法在无人机三维航路规划的算法研究
Research on UAV Path Planning Based on Vibrational Genetic Algorithm in 3D
摘要
Abstract
Concerning the weight of cost function has to change with the environment ,a normalized cost function is designed with flight constraints in this paper,which could improve the robustness of the algorithm since there is no need to modify the cost function when the environment is changed. A high timeliness routing algorithm is proposed which is based on B-spline curve and Genetic Algorithm(GA) to reduce the time cost of traditional fixed step algorithms. First,the control points are searched by GA in the map. Then the whole path is produced by B-spline curve with control points. An appropriate vibrantion law is added in order to enhance the global search ability of GA so that the population still maintains a certain diversity in the evolution of the late. Simulation result shows that the method is much faster than Elite Ant Algorithm and the cost of flight route is obviously lower than that of Vibrational Genetic Algorithm.关键词
归一化/航路规划/B样条曲线/振动遗传算法Key words
normalized/route planning/B-spline/vibrational genetic algorithm分类
军事科技引用本文复制引用
席庆彪,李康,刘慧霞..振动遗传算法在无人机三维航路规划的算法研究[J].火力与指挥控制,2014,(10):30-35,6.基金项目
国家自然科学基金资助项目 （）
