基于改进教-学算法的无人机航路规划

Route planning method for unmanned aerial vehicle based on improved teaching-learning algorithm

针对传统教-学优化(TLBO)算法进行航路规划时收敛速度慢、容易陷入局部最优的问题,提出一种自适应交叉教-学优化(AC-TLBO)算法。首先,该算法令传统教-学优化(TLBO)算法的教学因子随着迭代次数而发生变化,提高算法的学习速度;其次,当算法可能要陷入局部最优时,加入一定的扰动,使算法尽可能地跳出局部最优;最后,为了进一步提升算法的收敛效果,在算法中引入遗传算法的交叉环节。利用传统教-学优化(TLBO)算法、自适应交叉教-学优化(AC-TLBO)算法和量子粒子群优化(QPSO)算法进行无人机航路规划,仿真结果表明,在10次规划中,自适应交叉教-学优化(AC-TLBO)算法有8次找到了全局最优路径,而传统教-学优化(TLBO)算法和量子粒子群优化(QPSO)算法分别只找到了2次和1次;而且自适应交叉教-学优化(AC-TLBO)算法的收敛速度高于另外两种算法。

Aiming at the problem of slow convergence and being easy to fall into local optimum in the route planning of the traditional teaching-learning-based optimization algorithm, an adaptive crossover teaching-learning-based optimization algorithm was proposed. Firstly, the teaching factor of the algorithm was changed with the number of iterations, so the learning speed of the algorithm was improved. Secondly, when the algorithm was likely to fall into local optimum, a certain disturbance was added to make the algorithm jump out of local optimum as far as possible. Finally, in order to improve the convergence effect, the crossover link of genetic algorithm was introduced into the algorithm. Then the path planning of Unmanned Aerial Vehicle （UAV） was carried out by using the traditional teaching-learning-based optimization algorithm, the adaptive crossover teaching-learning-based optimization algorithm and the Quantum Particle Swarms Optimization （QPSO） algorithm. The simulation results show that in 10 times of planning, the adaptive crossover teaching-learning-based optimization algorithm finds the global optimal route for 8 times, while the traditional teaching-learning-based optimization algorithm and the QPSO algorithm find the route for only 2 times and 1 time respectively, and the convergence of the adaptive crossover teaching- learning-based optimization algorithm is faster than the other two algorithms.