舰船电子工程2023，Vol.43Issue(10)：77-81,5.DOI:10.3969/j.issn.1672-9730.2023.10.017
改进粒子群算法的城市环境下UAV航迹规划
Improved Particle Swarm Algorithm for UAV Trajectory Planning in Urban Environment
黄晋 1李云飞 1刘厚荣 1王圣淳 1丁伟杰1
作者信息
- 1. 中国民用航空飞行学院 广汉 618300
- 折叠
摘要
Abstract
Good trajectory planning can greatly improve the efficiency of UAVs.A 3D trajectory planning method with im-proved particle swarm algorithm is proposed for the limitation of UAV trajectory planning by the complex low-altitude environment in cities.Firstly,the raster method is used to model the urban environment and transform the UAV trajectory planning problem into an easy-to-handle abstract space.Secondly,according to the characteristics of the particle swarm algorithm,an adaptive mecha-nism is introduced for the initialization of the particle swarm.Adaptive inertia weights and adaptive exponential learning factors are used.Traction acceleration is introduced for the update of the particle swarm.Then,with the UAV operation efficiency and opera-tion risk as the target,the UAV operation constraint is combined with the UAV operation.Then the target trajectory planning model is constructed with the objective of UAV operation efficiency and operation risk,combined with UAV operation constraint.The simu-lation is compared with the traditional genetic algorithm and traditional particle swarm algorithm,and it is verified that the improved algorithm has better solution quality.关键词
无人机/三维航迹规划/粒子群算法/城市环境Key words
UAV/three-dimensional path planning/particle swarm algorithm/urban environment分类
电子信息工程引用本文复制引用
黄晋,李云飞,刘厚荣,王圣淳,丁伟杰..改进粒子群算法的城市环境下UAV航迹规划[J].舰船电子工程,2023,43(10):77-81,5.
