太原理工大学学报2025，Vol.56Issue(2)：348-355,8.DOI:10.16355/j.tyut.1007-9432.20230486
多固定翼无人机的任务分配和路径规划算法
Task Allocation and Path Planning Algorithms for Multi-Fixed-Wing UAV
摘要
Abstract
[Purposes]The task allocation and path planning of multi-fixed-wing Unmanned Aerial Vehicle(UAV)simply regard it as a particle,thus the problems of ignoring its own heading angle,initial and terminal velocity vectors exist.Aiming at the problem of multi-fixed-wing UAV mission planning,improved Ant Colony Optimization(ACO)algorithm and Self-Organizing Map(SOM)algorithm are combined to propose ACO-SOM algorithm for multi-UAV system.[Methods]The SOM was used for task allocation,and the ant colony state transition probability method was in-troduced to adjust the weights of SOM winning neurons,so that the fixed-wing UAV reached each task point in turn according to the optimal dubins route.According to the cruise ability and kinematic constraints,the tasks were reasonably allocated,and the multi-objective optimization function was constructed to realize the cooperative task execution ability of multiple fixed-wing UAVs.The ACO-SOM algorithm was simulated and verified in the scenarios of obstacles and different landing points.[Findings]Experimental results show that,compared with SOM,the proposed method can make the multi-fixed-wing UAV reasonably assign tasks and plan the optimal path,and has higher obstacle avoidance and planning abilities.关键词
任务分配/路径规划/固定翼无人机/自组织映射/蚁群算法/Dubins曲线Key words
task allocation/path planning/fixed-wing UAV/SOM/ant colony optimization/Dubins curve分类
信息技术与安全科学引用本文复制引用
郭家赫,高岳林,柳迎春..多固定翼无人机的任务分配和路径规划算法[J].太原理工大学学报,2025,56(2):348-355,8.基金项目
宁夏自然科学基金重点项目(2022AAC02043) （2022AAC02043）
宁夏高等教育一流学科建设基金项目(NXYLXK2017B09) （NXYLXK2017B09）
北方民族大学重大科研专项项目(ZDZX201901) （ZDZX201901）
南京证券支持基础学科研究项目(NJZQJCXK202201) （NJZQJCXK202201）
