帝国竞争算法在无人机三维航线规划中的应用研究

Research on Application of ICA in Three-Dimensional Path Planning of UAV

针对实际飞行环境中无人机的三维航线规划问题,提出了一种创新启发式优化算法——牛顿帝国主义竞争算法(NICA,Newtonian imperialist competitive algorithm)。该算法能够根据无人机的飞行轨迹,从起始位置到任务目标位置生成平滑的航线路径,约束航线规划,使得目标完成任务的时间最小化。该算法也能为无人机在真实地形上的航线提供最佳轨迹路径。最后通过与ICA、GA和PSO算法进行比较,验证了改进算法的有效性。结果表明:改进帝国算法提高了全局最优解的搜索能力,在收敛速度和精度上优于其他3种算法,适合用来解决无人机的三维航线规划问题。

An innovative heuristic optimization algorithm, the Newtonian imperialist competitive algorithm （ NI- CA） is proposed to solve the three-dimensional path planning of UAV in actual flight environment. The algo- rithm can generate a smooth route path from the starting position to the mission target location according to the flight path of the UAV, and the route planning is restricted, so that the time to complete the task is minimized. The algorithm can also provide the best trajectory path for the UAV in the real terrain path. Finally, the effec- tiveness of the improved algorithm is verified by comparing with ICA, GA and PSO algorithms. The results show that the improved ICA improves the searching ability of the global optimal solution, and is superior to the other three algorithms on the convergence speed and accuracy. It is suitable for solving the three-dimensional route planning problem of the UAV.