基于改进蚁群算法的无人机三维航路规划

Three dimensional path planning of UAV with improved ant algorithm

研究了一种基于改进蚁群算法的无人机三维航路规划方法,以保证在敌方防御区域内以最小的被发现概率以及可接受的航程到达目标点。首先对无人机三维航路规划模型进行分析,在此基础上采用蚁群算法对三维航路进行优化。将最短路径的信息反馈到系统中作为搜索的指导信号,并改进节点选择方法,以提高应用蚁群算法搜索无人机三维航路的效率。最后将所研究的方法应用于无人机的三维航路规划,仿真结果表明本文方法是有效的。

In order to ensure unmanned automatic vehicle （UAV） to reach the destination with minimum probability of being found in an acceptable path, a three dimensional path planning method was studied on the basis of an improved ant algorithm. First the model of three dimensioanl path planning of UAV was analyzed. Then an optimization of path planning with ant algorithm for UAV was given. To improve the efficiency of path planning, the message of the shortest path was introduced in the system as a searching guidance signal, and a modified nodes selection method was also given. For the validation of the effectiveness of the proposed method, it was used in the path planning of UAV and simulation results show that it can obtain optimum path.