基于K均值聚类和遗传算法的多航迹规划方法

Multiple Routes Planning Method based on K-means Clustering and Genetic Algorithm

提出了一种在未知动态环境中利用K均值聚类和遗传算法的飞行器多航迹规划方法。针对飞行器在动态环境下需要调整飞行航迹的问题,该方法可以规划出多条可供选择的航迹,使飞行器能在障碍和威胁等环境发生变化时选择可行的飞行线路。实验结果表明,该方法能有效地完成多条航迹的规划,获得满足要求的多条飞行航迹。

A new multiple routes planning method for UAV（Unmanned Air Vehicle） is proposed, which based on K-means clustering algorithm and genetic algorithm in unknown dynamic environments. Considering the problem that the flight routes need to be adjusted for dynamic environments, our approach can plan multiple replaceable routes, while can assure the UAVs obtain feasible flight routes when the obstacles and threats appreaed. Experiments demonstrated that our method can complete multiple routes planning efficiently and the results are promising.