火力与指挥控制2024，Vol.49Issue(12)：27-35,46,10.DOI:10.3969/j.issn.1002-0640.2024.12.003
基于改进哈里斯鹰算法的无人机三维路径规划
Unmanned Aerial Vehicle 3D Path Planning Based on Improved Harris's Hawk Algorithm
摘要
Abstract
In UAV systems,swiftly planning a low-cost,safe,and maneuver-compliant flight path for drones is pivotal.To meet the requirements of cost-effectiveness,safety,and rapid planning,a cost function is devised,considering path length,obstacle constraints,and trajectory smoothness.Smoothness metrics reflect drone performance constraints,simplifying performance considerations.Building upon this,an enhanced Harris Hawk algorithm is proposed to address three-dimensional drone path planning.This enhanced approach employs spherical vector encoding to directly enforce constraints on turns and climb angles,significantly reducing the search space.Utilizing Gaussian mutation strategy to traverse extreme points generated by obstacles enhances the algorithm's global search capability.Introducing dif-ferential evolution strategy fosters information exchange among individuals,boosting the algorithm's local optimization ability.Simulation results demonstrate that compared to other swarm intelligence algorithms,this algorithm exhibits faster convergence and superior path planning effectiveness.关键词
无人机路径规划/哈里斯鹰算法/球面矢量编码/高斯突变策略/差分进化算法Key words
unmanned aerial vehicle/path planning/harris's hawk algorithm/spherical vector encoding/gaussian mutation strategy/differential evolution algorithm分类
航空航天引用本文复制引用
李杰,陶伟,张娟,李辉..基于改进哈里斯鹰算法的无人机三维路径规划[J].火力与指挥控制,2024,49(12):27-35,46,10.基金项目
国家自然科学基金重点资助项目(U20A20161) （U20A20161）
