基于模拟退火算法的无人机山地作业能耗最优路径规划

Optimal Energy Consumption Path Planning of UAV on Mountain Region Based on Simulated Annealing Algorithm

为提高无人机在丘陵山地区域的作业效率,以四旋翼无人机为试验对象,通过对无人机三维运动的受力分析提出无人机三维运动的能效系数;对无人机自身性能进行测试,完成无人机功率与升力模型的拟合,拟合决定系数为0.9894,并在此基础上不同负载下完成能效系数的计算;最终,通过设计相应的模拟退火算法完成无人机在山地作业情况下的能耗最优作业路径规划。试验表明,当飞行速度为2 m/s时,在不同恒定负载情况下,无人机能耗最优路径比常规路径最多可节约能耗30.16%,比最短路径最多可节约能耗5.47%;在负载实时变化情况下,能耗最优路径比常规路径可节约能耗32.04%,比最短路径可节约能耗11.72%。说明模拟退火算法可在能耗约束条件下对无人机进行作业路径规划,且具有较好的路径规划效果。

In order to improve the operation efficiency of the unmanned aerial vehicle(UAV)on mountain region,the four-rotor UAV was used as the test object.The energy efficiency coefficients of the three-dimensional motion were proposed through the force analysis and simplification of the three-dimensional motion of the UAV.Then the performance of the UAV was tested and the correlation model between power and thrust was fitted with the coefficient of determination of 0.9894.The energy efficiency coefficients under different load conditions were calculated on this basis.After that,the optimal energy consumption operation paths of UAV on mountain region were simulated based on the correspondingly designed simulated annealing algorithm(SAA).The test results showed that when the flying speed of the UAV was 2 m/s,under different constant loads,the optimal energy consumption paths can save up to 30.16%of the energy compared with the conventional paths,and 5.47%of the energy compared with the shortest paths;in the case of the real-time changing load,the optimal energy consumption path can save energy by 32.04%compared with the conventional path and save energy by 11.72%compared with the shortest path.It showed that under the constraint of energy consumption,the simulated annealing algorithm can optimize the operation path of the UAV to save energy,which was of great significance for improving the operation efficiency of the UAV on mountain region.