多无人机协同航路规划研究

Research on Multi-UAV Cooperative Trajectory Planning

提出了一种基于路径均衡蚁群优化的航路规划方法.首先,针对环境的复杂性和多机航行的碰撞威胁,引入阻塞因子以解决无人机之间的空间协同问题;其次,利用可变协同航程同步各无人机的航行时间,解决无人机之间的时间协同问题;最后,在满足时空协同要求的前提下,为无人机编队选择总体航行代价最小的优化航路.仿真实验结果验证了复杂环境下所提方法的可行性和有效性.

A path balancing based ant colony optimization approach was presented. At first, in view of coordinated trajectory planning in dynamic and uncertain environments, the congestion factor was adopted to avoid collision between unmanned aerial vehicle （UAVs）. Then, for time cooperation, the variable cooperative voyage was used to synchronize the arrival time of each UAV. With these premise of space- time collaborative, the trajectory for UAV fleet with minimum costs was selected. Simulation demonstrates the feasibility and the effectiveness of the proposed approach under complicated environment.