基于遗传算法的无人机航迹规划研究

本文研究了一种用遗传算法进行无人机航迹规划的方法,指出了无人机航迹规划的定义;提出了一种给定威胁及障碍分布下的无人机路径规划算法。根据威胁及障碍分布情况构造无人机可能飞行的航路集voronoi图,采用Dijkstra算法搜索威胁及障碍分布图,求解初始最短路径。在初始最短路径基础上,采用遗传算法优化初始路径。最后进行仿真实验,结果验证了遗传算法能提高航迹质量。

Study on a Path Planning for UAV with Genetic Algorithm

This paper studies a method for UAV path planning with genetic algorithm,points out the definition of UAV path planning,and proposes a UAV path planning algorithm under the condition of given distribution of threats and obstacles.According to the distribution of threats and obstacles,voronoi diagram of the UAV flight routes is constructed,and the initial shortest path is solved by searching the distribution of threats and obstacles by using Dijkstra algorithm. On the basis of the initial shortest path,the initial path is optimized with genetic algorithm.Finally,according to the simulation results,it is verified that the genetic algorithm can improve the quality of the UAV path.