基于改进蚁狮算法的无人机三维航迹规划

Three Dimensional Path Planning of UAV with Improved Ant Lion Optimizer

无人机3维航迹规划是任务规划中最复杂、重要的部分,针对基本蚁狮算法在解决3维航迹规划时能力不足的问题,首先在蚂蚁的行为中引入混沌调节因子,在蚁狮的行为中引入反调节因子,提高了算法的探索能力和开发能力;其次在建立3维环境模型的基础上,充分利用地形和约束信息,缩减搜索空间;最后将改进后的算法应用于3维航迹规划,并与原算法进行对比,实现在线局部重规划。仿真实验结果验证了改进方法的可行性和优越性。

Unmanned Aerial Vehicle （UAV） 3D path planning is the most complex and important part of mission planning. Considering at the problem that the problem of 3D path planning can not be solved by the original algorithm perfectly, so firstly the chaotic adjustment factor and anti-regulation factor are introduced into the behavior of ant and ant lion respectively, which improves the exploration and the exploitation of algorithm. Then, in order to reduce search space ,so terrain and constraints are full used on the basis of the establishment of 3D environment model. Lastly, the improved algorithm is applied to the 3D path planning, which is compared with the original algorithm, and online local re-planning is implemented. Simulation results demonstrate the feasibility and superiority of the improved method.