基于元胞遗传算法的多无人机编队集结路径规划

Formation Rendezvous Route Planning for Multi-UAV Based on Cellular Genetic Algorithm

针对多无人机编队集结路径规划问题,提出了基于元胞遗传算法的单机航迹规划方法,设置了基于时间约束的速度代价,在此基础上,提出了基于时间协同和防碰撞的多机编队集结策略。仿真结果表明,算法搜索成功率高、稳定性好,得到的多条路径满足无人机性能约束、时间协同性和安全性要求。

To solve the problem in the formation rendezvous route planning for multi-UAV,a singletrack UAV route planning method based on CGA is proposed.The velocity cost based on time constraint is set up,and a formation rendezvous strategy for multi-UAV based on time coordination and collision avoidance is also proposed.The simulation results show that the algorithm is of high success rate in search and good stability,and the acquired paths can satisfy the requirements of UAV performance constraints,time coordination and security.