摘要
文章针对现有无人飞行器低空突防三维路径规划方法工程实现困难等问题,提出了一种基于改进遗传算法的三维路径规划方法。该方法对地形高程数据进行综合平滑处理,建立满足无人飞行器机动性能的安全飞行曲面,结合威胁的量化模型,采用改进遗传算法在安全飞行曲面上规划出三维飞行路径。将实际工程中的部分约束条件应用到改进遗传算法的设计中,提高了算法搜索效率,且算法结构简单,易于工程实现。仿真结果表明,算法执行效率高,能满足无人飞行器低空突防路径规划的工程性需要。
A three dimensional path planning method based on an improved genetic algorithm is proposed. It can be used for effective and engineering-oriented path planning of low altitude penetration of an unmanned air vehicle （UAV）. First, Digital terrain information is processed by integrated terrain elevation smoothing algorithm. Then, The safe surface is formed by considering the maneuverability of the UAV, and the threat model is built too. Final- ly, an improved genetic algorithm is proposed to plan the three dimensional paths on the safe surface. The algorithm＇s search efficiency is improved by considering some practical constraints in the design, and the algorithm＇s structure is simple and easily realized in engineering. The simulation result indicates that the palnning algorithm is efficient and can meet the requirements of engineering realization.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2010年第3期343-348,共6页
Journal of Northwestern Polytechnical University
关键词
改进遗传算法
路径规划
威胁模型
低空突防
工程实现
improved genetic algorithm
path planning
threat model
low altitude penetration
engineering realization
