基于遗传算法的无人机航迹规划

Trajectory Planning Strategy for UAV Based on Genetic Algorithm

研究了基于遗传算法的无人机全局路径规划算法,建立了综合评价航程总长度、威胁概率和平均地形高度的多目标优化函数,并针对此优化函数设计了基于相对距离转角的遗传算法编码方案,进化计算结果稳定,达到了利用三维地形规避威胁的目的.进而研究了基于路径规划点生成光滑航迹的鲁棒性算法,利用MATLAB和VRML接口实现了无人机全局航迹规划的虚拟现实仿真.

Based on Genetic Algorithm（GA）, an off-line trajectory planning strategy for Uninhabited Aerial Vehicle（UAV） in complex geographical surroundings is studied. A novel chromosome coding method based on relative interval and corner of a feasible path is developed. A multi-object optimization function with respect to voyage total length, threat probability and average terrain height has been established. Furthermore, a robust smooth trajectory generation algorithm based on discrete waypoints is designed. Visualization of UAV＇s path tracking flying in virtual reality world has been realized by MATLAB and VRML interface.