摘要
针对无人机自主飞行控制技术中的全局路径规划问题,简要分析了几种路径规划算法,提出了一种基于遗传算法的改进型无人机全局路径规划算法,算法以旋翼型无人机为例设计了时间约束条件模型,对适应度函数参数和遗传算法算子进行了优化。试验结果表明,所提出的路径规划算法能够求得近似最优解,为无人机自主飞行决策控制提供可行方案。
Aiming at the problem of global path planning in UAV autonomous flight control technology,several kinds of path planning algorithms are briefly analyzed,and an improved global path planning algorithm for UAV based on genetic algorithm is presented. Based on the example of rotor drones,the time constraint model is designed,and the adaptive function parameters and genetic algorithm operators are optimized. The experimental results show that the proposed path planning algorithm can obtain an approximate optimal solution and provide a feasible solution for autonomous flight decision control of UAV.
作者
柯春艳
安思
KE Chun-yan;AN Si(Institute of Computer and Information Engineering, Xinjiang Agricultural University, Urumqi 830000, China)
出处
《信息技术》
2019年第5期33-35,40,共4页
Information Technology
基金
新疆农业大学校前期资助项目(XJAU201607)
