基于Voronoi图和遗传算法的航迹规划

Path Planning Based on Voronoi Diagram and Genetic Algorithm

面对复杂的作战环境,如何快速地规划出满足约束条件的飞行轨迹,是实现无人机突防攻击的关键。提出了一种基于Voronoi图和改进遗传算法的航迹规划方法,该方法采取分层规划的思想,首先由Voronoi图生成初始航迹,并综合考虑约束条件,赋予各条航迹相应的权值;然后采用遗传算法在生成的航迹空间中寻优,从而得到满意的航迹。为避免产生不可行解,采取了基于优先级编码的改进遗传算法,详细介绍了其编码与解码原理,并给出了相应的操作算子。仿真结果表明,整个航迹规划的思路是可行的。

In the complex combat environment, how to plan the flight path quickly which fulfills some constraints is critical for defense penetration of Unmanned Air Vehicle （ UAV ）. An approach of path planning based on Voronoi diagram and modified genetic algorithm was proposed, which adopts the principle of hierarchical planning. First, the Voronoi diagram was utilized to generate the initial paths and calculate the weight of the paths by considering the constraints. Then the optimal path was searched by using genetic algorithm. For avoiding generation of infeasible solution, a priority-based encoding method was adopted. The principle of encoding and decoding was illustrated carefully, and the genetic operators were designed. Simulation result showed that the approach proposed is feasible.