改进蛇优化算法的无人机三维路径规划

Three-Dimensional Path Planning of UAVs Based on Improved Snake Optimization Algorithm

针对无人机在复杂三维环境下路径规划的优化问题,提出一种融合黄金正弦的蛇优化算法。在勘探阶段结合黄金正弦策略优化位置更新公式,增强算法的搜索能力;加入了局部逃逸策略,提高原算法跳出局部最优的能力,提高算法寻优的效率。同时采用指数函数来模拟产生虚拟障碍物,通过约束条件和目标函数建立三维模型。最后进行无人机三维路径规划仿真实验并与多种算法进行对比。仿真结果表明,改进的ISO算法具有优异的全局路径规划能力,规划出的路径合理、安全、实用性强。

Aiming at the optimization problem of UAV path planning in a complex three-dimensional environment,a snake optimization algorithm combining golden sine is proposed.In the exploration phase,the golden sine strategy is combined to optimize the position update formula and enhance the searching ability of the algorithm.The local escape strategy is also added to develop the ability of the original algorithm to jump out of the local optimum and improve the efficiency of the algorithm.At the same time,the exponential function is used to simulate the generation of virtual obstacles,and the three-dimensional model is established by constraint conditions and objective functions.Finally,the three-dimensional path planning simulation experiment of the UAV is carried out and compared with several algorithms.The simulation results show that the improved ISO algorithm has excellent global path planning ability,the path it planned being reasonable,safe,and practical.