火力与指挥控制2025，Vol.50Issue(1)：72-79,8.DOI:10.3969/j.issn.1002-0640.2025.01.010
复杂低空环境下无人机三维航迹智能规划
Intelligent 3D Path Planning of UAV in Complex Low-altitude Environment
张赫 1张宾 2靳崇 1赵雁妍 1梁晓1
作者信息
- 1. 北方自动控制技术研究所,太原 030006
- 2. 陆军装备部驻太原地区第二军代室,太原 030006
- 折叠
摘要
Abstract
Aiming at the three-dimensional path planning problem of UAV in complex low-altitude environment,a path planning method is proposed based on the path planning modeling,ant colony algorithm improvement and simulation,validation analysis and other methods,considering terrain influence and threat information.The objective function of path planning is reconstructed by integrating maneuverability performance constraints of UAV,external constraints of planning environment,comprehensive cost modeling of path and other optimization methods,the UAV actual combat environment is described more realistically.The basic ant colony algorithm is improved from three aspects,such as reasonable setting for non-uniform initialization of pheromones,increasing heuristic factors to improve state transition probability,and improving pheromone updating mechanism.The simulation experiment shows that the optimal path obtained by improved ant colony algorithm can effectively avoid the effects of topography,no-fly zones and airspace available space restrictions,the number of iterations is reduced and the quality of flight path planning is greatly improved,it has certain practical value.关键词
无人机/三维航迹规划/威胁规避/改进蚁群算法Key words
UAV/3D path planning/threat avoidance/improved ant colony algorithm分类
机械制造引用本文复制引用
张赫,张宾,靳崇,赵雁妍,梁晓..复杂低空环境下无人机三维航迹智能规划[J].火力与指挥控制,2025,50(1):72-79,8.
