空军工程大学学报（自然科学版）2017，Vol.18Issue(5)：19-23,5.DOI:10.3969/j.issn.1009-3516.2017.05.004
元胞蚁群算法的城市楼宇间无人机航路规划
A Path Planning for UAVs in Urban Building Areas Based on Cellular Ant Colony Algorithm
摘要
Abstract
Small-sized UAVs are increasing more and more rapidly in urban circumstance in recent years . However,the traditional path planning methods always threaten simplification,and fail to solve the prob-lem of path-planning in the circumstance efficiently Therefore,cell is introduced to define the flying space, digital cellular map and path cost function are defined .At the same time by using ant colony algorithm this paper plans the path for UAVs,thus avoiding any kinds of irregular obstacles .The simulation results show that the proposed method can avoid obstacles logically under condition of the obstacle model without simplification .By doing so,this plans a safe flyable path in urban building areas for UAVs .关键词
元胞蚁群算法/航路罚函数/航路规划/城市环境Key words
cellular ant colony algorithm/path cost function/path planning/urban building area分类
航空航天引用本文复制引用
李兴超,魏瑞轩,张启瑞,许卓凡,周凯..元胞蚁群算法的城市楼宇间无人机航路规划[J].空军工程大学学报（自然科学版）,2017,18(5):19-23,5.基金项目
国家自然科学基金(61573373) （61573373）
