测控技术2025，Vol.44Issue(6)：46-52,7.DOI:10.19708/j.ckjs.2025.05.229
基于改进登山队优化算法的无人机三维路径规划
UAV 3D Path Planning Based on Improved Mountaineering Team-Based Optimization Algorithm
摘要
Abstract
In order to solve the problems of traditional mountaineering team-based optimization algorithm(MT-BO)which is easy to fall into local optimum and has slow convergence in 3D path planning of unmanned aerial vehicle(UAV),a UAV path planning method based on multi-strategy improved MTBO(IMTBO)algorithm is proposed.Firstly,the 3D environment modeling is performed by combining 3D terrain and obstacle information through the digital elevation model,and a objective function containing path length,height cost and smoothness is designed to transform the path planning problem into a multi-objective optimization problem.Secondly,the diversity of the initial population is increased by using Tent chaotic mapping and refraction reverse learning,the original position update formula in the disaster threat stage is replaced by the sine cosine strategy to balance the global search and local development ability of the algorithm,and the Gaussian mutation strategy is used to replace the random generation of new members in the member update stage to improve the local development a-bility of the algorithm.Finally the IMTBO algorithm is applied to the 3D path planning of UAVs.The experi-mental results show that the IMTBO algorithm can plan shorter paths and has higher search efficiency than the other path planning methods in the same environment.关键词
登山队优化算法/Tent混沌映射/折射反向学习/正余弦策略/高斯变异/三维路径规划Key words
MTBO/Tent chaotic mapping/refraction reverse learning/sine cosine strategy/Gaussian mutation/3D path planning分类
计算机与自动化引用本文复制引用
弓晓霞,郝海霞,程威,刘吉..基于改进登山队优化算法的无人机三维路径规划[J].测控技术,2025,44(6):46-52,7.基金项目
山西省基础研究计划资助项目(202203021221101) （202203021221101）
