改进布谷鸟搜索算法的无人机三维航路规划

Three Dimensional Path Planning for Unmanned Aerial Vehicles Using Improved Cuckoo Search Algorithm

针对无人机三维航路规划问题,结合差分进化算法,提出了一种改进布谷鸟搜索算法进行无人机航路规划。对无人机飞行的三维真实环境进行建模,将其分为城市楼宇环境和山峰环境。对不同的地形环境采用不同的编码方式,将航路最短距离和规避威胁作为评价函数。仿真实验表明,改进后的布谷鸟搜索算法能够寻找多条切实可行的三维航路且鲁棒性较好,是一种行之有效的航路规划算法。

Aiming at the problems of three dimensional path planning for unmanned aerial vehicles(UAV),combining the differential evolution algorithm,this paper proposes a path planning method of UAV using improved cuckoo search algorithm.Establishing model for threat in UAV flight real environment,it is divided into urban building environment and mountain environment.Different coding methods are adopted for different terrain environments.the objective function was shortest distance and avoiding the threaten.Two simulation result shows that the improved cuckoo search algorithm can find many feasible three-dimensional route and be of stability.So it is an effective and feasible path planning algorithm.