郑州大学学报（工学版）2025，Vol.46Issue(4)：8-15,8.DOI:10.13705/j.issn.1671-6833.2025.04.014
改进粒子群算法的无人机B样条曲线路径规划
Improved Particle Swarm Algorithm for B-spline Curve Path Planning of Unmanned Aerial Vehicles
摘要
Abstract
To address the problem of getting stuck in local optimal solutions in UAV path planning with particle swarm algorithm and insufficient consideration for obstacle avoidance after smoothing discrete path points,a three-dimensional B-spline curve path planning method for unmanned aerial vehicles based on an improved particle swarm algorithm was proposed.Firstly,considering the flight performance requirements such as UAV path length,safe ob-stacle avoidance,flight altitude,and smoothness,a path planning model was constructed using the geometric prop-erties of B-spline curves.Then,an improved particle swarm algorithm was used to solve the model.The algorithm improvement was mainly achieved by optimizing the particle initialization strategy,updating the inertia weight factor and learning factor strategy,and increasing the particle perturbation strategy.The test results on the CEC2017 standard test function set showed that the improved particle swarm algorithm exhibited stronger optimization ability and better stability compared to other algorithms.The simulation results of two scenarios showed that the planned path cost was reduced by 2%,stability was improved by 65%,path safety avoided obstacles and C2 was continu-ous,which could meet the comprehensive performance requirements of UAV flight.关键词
无人机/B样条曲线/路径规划/避障/改进粒子群算法Key words
UAV/B-spline curves/path planning/obstacle avoidance/improved particle swarm algorithm分类
信息技术与安全科学引用本文复制引用
杨火根,王艳,骆伟..改进粒子群算法的无人机B样条曲线路径规划[J].郑州大学学报（工学版）,2025,46(4):8-15,8.基金项目
国家自然科学基金资助项目(12161043) （12161043）
江西省教育厅科学技术研究项目(GJJ210852) （GJJ210852）
赣州市指导性科技计划项目(GZ2024ZSF874) （GZ2024ZSF874）
