基于ACO算法和Bezier曲线优化的巡航导弹航路规划

Cruise Missile Path Planning Based on ACO Algorithm and Bezier Curve Optimization

在巡航导弹低空突防前提下,针对蚁群算法规划的导弹航路存在转向点个数较多和转向角度较大的问题,提出一种基于蚁群算法和Bezier曲线优化的三维航路规划方法。将蚁群算法生成的路径节点作为生成Bezier曲线航路的控制点,将曲线航路分段形成折线化航路。采用广度优先搜索算法对航路生成中出现的不可航行路段进行微调处理,得到可行的规划航路。仿真结果表明:生成的航路兼顾了随机搜索全局优化的同时,避免了大角度转向,缩减了飞行航程和转向点个数,保证了巡航导弹飞行过程中的连续稳定。

For the low-altitude penetration of cruise missile, there is a large number of steering points and a larger steering angle in missile path planning based on ant colony algorithm. In order to solve this problem, a three-dimensional path planning method based on ant colony algorithm and Bezier curve optimization is proposed. The planning path node generated by ant colony algorithm was used as the control point to generate the flight path of Bezier curve, and then the curve was changed to be broken lines path. In order to avoid the unnavigable section, using the breadth first search algorithm to process those paths until getting the feasible planning path. Simulation results demonstrate that the proposed method takes into account both random search and global optimization, avoids the large angle steering, reduces the flight distance and the number of steering points, and ensures the continuous stability in the process of cruise missile flight.