摘要
提出一种基于遗传算法和B-样条曲线的路径规划新方法。以B-样条曲线控制点的坐标作为遗传因子用遗传算法进行规划,根据这些控制点,运用B-样条曲线在3维坐标系中生成飞行器路径轨迹。由于只对控制点进行规划减小了系统的计算量,极大地提高了系统的实时性。仿真表明运用该算法规划的路径可以以最优的轨迹把飞行器指引到预定的目的地。
A combination of evolutionary algorithms incorporating B- Splines function- based framework is utilized to design a path planner for Unmanned Aerial Vehicles （UAVs）. The coordinates of B - Splines control points being the evolutionary algorithms＇ artificial chromosome genes are used to produce the path for UAVs in a 3 - D rough terrain environment. Because of programming only the control points of B- Splines not all the points of the path,the computation time of the system is reduced dramatically. A simulation is made to show that the algorithms is effective in guiding an UAV to its final destination, the simulation also shows that the planning time adopting by the proposed algorithms for the UAVs can decline to 74.5% of the time of original GA algorithms.
出处
《现代电子技术》
2008年第18期64-67,共4页
Modern Electronics Technique
