基于CPSO的UAV编队集结路径规划

Formation rendezvous path planning for multi-UAVs based on CPSO

针对多无人机编队集结路径规划问题,提出了具有合作机制的分布式协同粒子群(CPSO)算法。为了满足无人机运动学约束,采用曲率连续的PH曲线作为备选路径。基于协同进化思想提出CPSO算法,为每架无人机规划出一条满足机间协同约束的最优安全可飞行路径。仿真结果表明,规划得到的多条路径能够满足无人机运动学约束、安全性及无人机之间的协同性要求;相比于协同进化遗传算法,CPSO算法搜索成功率更高,稳定性更好。

To solve the problem of UAVs formation rendezvous path planning,a distributed cooperative particle swarm optimization（ CPSO） algorithm was proposed. In view of the kinematic constraints of UAVs,PH curve was used because of its curvature continuity. Inspired by co-evolutionary theory,CPSO was proposed to plan a flyable safe path for each UAV,while meeting kinematic constraints of UAVs and the cooperation constraints. Simulations results show that the paths planned with CPSO could meet the kinematic constraints of UAVs,safety constraints,and the cooperation requirements between UAVs. Compared with the co-evolutionary genetic algorithms,the proposed CPSO has a higher success rate and better stability for searching.