徐州工程学院学报（自然科学版）2024，Vol.39Issue(3)：40-53,14.
基于自适应动态窗口改进细菌趋化算法的UAV三维路径规划
An Improved Bacterial Chemotaxis Algorithm for Three-dimensional UAV Path Planning Based on Adaptive Dynamic Window
摘要
Abstract
A hybrid three-dimensional path planning algorithm(3D_IBASDWA)is proposed as a solution to the path planning problem of unmanned aerial vehicles(UAVs)in three-dimensional space based on an adaptive dynamic window(self_3D_DWA)and an improved bacterial chemotaxisalgorithm(3D_IBF).The enhanced algorithm integrates the two-dimensional dynamic window and bacterial chemotaxis algorithms with global and local path planning,enabling the resolution of both global optimal solutions and the circumvention of local dynamic obstacles with disturbances.Additionally,the logistics chaos strategy is incorporated into the global path optimization process based on the bacterial chemotaxis algorithm,thereby enhancing the precision of calculations and accelerating the convergence rate in path planning.Moreover,the sensors are employed to ascertain the presence of dynamic obstacles for the UAV based on the obtained path.The three-dimensional dynamic window self-adaptive algorithm is employed for the circumvention of dynamic obstacles.The simulation results demonstrate the efficacy of the enhanced algorithm in terms of precision in calculation,rapid convergence,and the avoidance of dynamic obstacles.关键词
三维路径规划/细菌趋化算法/Logistics混沌/参考路径/动态窗口算法/自适应/动态避障Key words
three-dimensional space/bacterial algorithm/logistics chaos/reference path/dynamic window algorithm/adaptive/dynamic obstacle avoidance/path planning分类
信息技术与安全科学引用本文复制引用
蒲兴成,汪欢,谭令,陈雨柔,王淑真..基于自适应动态窗口改进细菌趋化算法的UAV三维路径规划[J].徐州工程学院学报（自然科学版）,2024,39(3):40-53,14.基金项目
国家自然科学基金项目(61876200) （61876200）
安徽省质量工程项目(2022cxtd162) （2022cxtd162）
铜陵学院人才引进项目(R23010 or 2022tlxyrc10) （R23010 or 2022tlxyrc10）
安徽省重点研究与开发计划项目(202004a05020010) （202004a05020010）
安徽省自然科学基金项目(2008085MG227) （2008085MG227）
铜陵学院校级教改项目(2023xj017) （2023xj017）
安徽省大学生创新创业项目(D21633) （D21633）
安徽省高校优秀科研创新团队项目(2023AH010056) （2023AH010056）
安徽省高校协同创新项目(GXXT-2023-050) （GXXT-2023-050）
