| 基于改进蚁群算法的无人机航迹规划 |
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| 引用本文： | 韩攀,陈谋,陈哨东,刘敏. 基于改进蚁群算法的无人机航迹规划[J]. 吉林大学学报(信息科学版), 2013, 31(1): 66-72 |
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| 作者姓名： | 韩攀 陈谋 陈哨东 刘敏 |
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| 作者单位： | 南京航空航天大学自动化学院,南京,210016;洛阳光电设备研究所光电控制技术重点实验室,河南洛阳,471009 |
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| 基金项目： | 航空科学基金资助项目(20105152029);总装重点实验室类基金资助项目(9140C460202110C4603);南京航空航天大学基本科研业务费专项科研基金资助项目(2011049) |
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| 摘 要： | 针对无人机在指定地点执行侦察、 巡逻或攻击等任务, 将无人机执行任务的航迹代价模型转化为旅行商问题, 采用改进蚁群算法实现航迹规划。通过引入去交叉禁忌搜索策略, 对基本蚁群算法进行改进, 以解决在收敛后期易陷入局部最优的问题。同时, 利用数值仿真对所研究的基于改进蚁群算法的无人机航迹规划算法进行验证。仿真结果表明, 该算法能提高了无人机航迹优化能力。
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| 关 键 词： | 无人机 航迹规划 蚁群算法 禁忌搜索 旅行商问题 |
| 收稿时间： | 2012-07-01 |
Path Planning for UAVs Based on Improved Ant Colony Algorithm |
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| HAN Pan , CHEN Mou , CHEN Shao-dong , LIU Min. Path Planning for UAVs Based on Improved Ant Colony Algorithm[J]. Journal of Jilin University:Information Sci Ed, 2013, 31(1): 66-72 |
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| Authors: | HAN Pan CHEN Mou CHEN Shao-dong LIU Min |
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| Affiliation: | 1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Key Laboratory of Optical-lectrics Control Technology, Luoyang Institute of Electro-ptical Equipment, Luoyang 471009, China |
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| Abstract: | Aiming at the wide use of the UAV (Unmanned Aerial Vehicles) indesignated place to perform reconnaissance, detection or patrol mission, etc, the tasks cost model of the path planning of UAVs is transformed into the traveling salesman problem. The improved ant colony algorithm isemployed to complete the path planning of UAV. To overcome the problem of easyconvergence to the local optimum in the last stage for the basic ant colony algorithm, the cross tabu search strategy is introduced to improve the basic ant colony algorithm. The simulation study is presented to prove the effectiveness of the developed path planning method based on the improved ant aolony alg
orithm. The simulation results show that the developed algorithm can improve the optimization ability of path planning for UAV. |
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| Keywords: | unmanned aerial vehicles(UAV) path planning ant colony algorithm tabu search travelling salesman problem (TSP) |
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