粒子群法在三维航迹规划及优化中的应用

Application of particle swarm algorithm in 3-D route planning and optimization of air vehicles

有效航迹规划是对敌纵深目标攻击成功的可靠保证,为了在复杂的地形和敌方火力威胁环境中生成最优的三维航迹,提出了一种利用粒子群法来优化三维航迹规划的方法,同时,利用动态窗对原航迹规划中新出现的威胁进行航迹动态规划。根据飞行器的飞行性能,通过引入最小威胁曲面概念生成三维航迹搜索空间,再利用一个有限项的多项式函数来逼近最小威胁曲面中的三维航迹在二维水平面内的投影,将原来的规划问题简化为在一个一元函数多项式系数空间中的搜索寻优。仿真结果显示,利用粒子群法优化的静态航迹规划能有效减小搜索空间,提高规划效率,同时,动态航迹规划能回避新威胁。

Effective route planning is very important for successful attacking the target in depth. In order to obtain an optimized 3-D route under complicated terrain and threat of enemy firepower, a method for optimizing the route planning based on particle swarm algorithm is proposed. A dynamic window is used simultaneously to deal with the newly appeared threats in the original route planning for realizing dynamic route planning. According to the performance of vehicle, the space for 3-D route searching is formed by introducing the concept of SOMR （Surface of Minimum Risk）. A polynomial function with finite terms is used to approach the horizontal projection of the 3-D route in the SOMR. Thus the original planning problem is simplified as an optimization searching problem in the coefficient space of a univariate polynomial function. The simulation results showed that： 1） the static route planning using Particle Swarm Optimization （PSO） can reduce the searching space effectively and improve the planning efficiency,and 2） the dynamic route planning can avoid new threats.