无人机航迹规划算法研究

航迹规划算法是无人机应用的关键技术之一。本文主要结合蚁群算法对无人机三维航迹规划进行了系统的研究。针对无人机三维航迹规划的复杂性及其搜索空间大且效率低的问题,提出了一种基于蚁群算法的航迹滚动规划方法,并将地形条件与航迹规划的约束条件加入搜索算法中,以使规划的航迹更符合实际情形。仿真实例结果表明,所提出的规划方法可以规划出满足无人机飞行要求的航迹。

Study on the path planning for Unmanned Aerial Vehicle

Route planning is essential for UAV application. The paper mainly combines ant colony algorithm to carry on the research of system to UAV 3-D route planning. Aiming at the phenomenon of algorithm, which is complexity and inefficient, a new method based on ant colony algorithm is designed. The method takes topography and the restrict of route planning into account in order to accord with the fact well. The algorithm is implemented with computer simulation. The results of the simulation confirm the feasibility and efficiency of the algorithm.