基于POA算法的无人机航迹规划优化方法

Optimization Method of Unmanned Aerial Vehicle Path Planning Using POA

针对航迹规划这一无人机(UAV)自动控制领域的优化问题,本文提出了一种基于传教优化算法(POA)的UAV航迹规划优化方法。该方法设计了包括航迹长度、地形代价以及飞行高度代价的优化目标函数模型,在初始化传教士位置时引入旋转坐标系以加速算法收敛速度并详细说明了POA算法和UAV航迹规划结合的具体问题及其处理方法。最终,与综合改进粒子群算法航迹规划的仿真进行对比,从航迹长度、收敛速度以及对于不同地形图的适应度三个方面证明了本文所提基于POA算法的UAV航迹规划优化方法的有效性。该研究可以应用于UAV航迹规划领域,对于提升UAV自主导航能力具有重大意义。

Aiming at the optimization problem of path planning in the automatic control field of unmanned aerial vehicle(UAV), a UAV path planning optimization method based on preaching optimization algorithm(POA) is proposed in this paper. In this method, the optimization objective function model including path length, terrain cost and flight altitude cost is designed, the rotating coordinate system is introduced to accelerate the convergence speed of the algorithm when initializing the preacher’s position, and the specific problems and processing methods of the combination of POA and UAV path planning are described in detail. Finally, the simulation results prove the effectiveness of the UAV path planning optimization method based on POA in terms of path length, convergence speed and adaptability to different terrain maps compared with the comprehensive improved particle swarm optimization based method.