测控技术2024，Vol.43Issue(12)：13-23,44,12.DOI:10.19708/j.ckjs.2024.12.302
基于改进双层蚁群进化算法的无人机路径规划
UAV Path Planning Based on Improved Double Layer Ant Colony Evolutionary Algorithm
陈晓 1毛烨炳 2王超2
作者信息
- 1. 南京信息工程大学电子与信息工程学院,江苏南京 210044||南京信息工程大学江苏省大气环境与装备技术协同创新中心,江苏南京 210044||南京多基观测技术研究院,江苏南京 211500
- 2. 南京信息工程大学电子与信息工程学院,江苏南京 210044
- 折叠
摘要
Abstract
Aiming at the shortcomings of traditional ant colony algorithm in UAV path planning,such as initial blind search,slow convergence speed,and excessive number of turns,an improved double layer ant colony evo-lutionary algorithm is proposed,which divides ants into a guidance layer and an optimization layer.In the initial search stage of the algorithm,the suboptimal path is obtained by using A* algorithm,and the pheromones are distributed unevenly along this path.Next,a double layer search pattern is designed.Heuristic functions for the double layers of ants are designed separately.The base layer searches for the arrival path,while the optimiza-tion layer further searches for the optimization path.In the process of updating pheromones,the idea of evolu-tionary algorithms is incorporated to improve the diversity of ant populations.A pheromone enhancement and weakening factor is added to enhance the positive feedback mechanism of ant colony algorithms.Finally,the in-itial path is optimized to remove redundant nodes in both directions.The experiment results show that compared to the traditional ant colony algorithm,the improved algorithm has significant improvements in terms of iteration times,optimized path length,and turning times.关键词
无人机/路径规划/双层蚁群算法/A*算法/进化算法Key words
UAV/path planning/double layer ant colony algorithm/A*algorithm/evolutionary algorithms引用本文复制引用
陈晓,毛烨炳,王超..基于改进双层蚁群进化算法的无人机路径规划[J].测控技术,2024,43(12):13-23,44,12.
