基于集成约束无人机两步制航迹规划方法

UAV two-step path planning method based on integrated constraint strategy

无人机航迹规划是一个富含地形威胁、雷达威胁和自身可飞性等多约束的优化问题.采用两步制的规划框架,提出一种基于集成约束的无人机航迹规划方法.规划第1阶段采用基于多种群策略的差分进化优化方法,规划第2阶段采用海洋捕食者算法的Lévy运动优化;集成约束机制在搜索过程中动态更新约束策略来补偿可行解数量骤减,抑制搜索停滞.与典型算法和约束处理策略进行对比,实验结果表明,所提出无人机航迹规划方法收敛性好、稳定性强,能够有效地求解复杂多约束无人机航迹规划问题.

UAV path planning is a multi-constraint optimization problem,including terrain threat,radar threat and its flight ability.This work proposes an integrated constraints method to plan the flight path of unmanned aerial vehicle(UAV)based on two-step mechanism.In the first-step of the path planning,the differential evolution optimization is adopted based on the multi-population strategy;The Lévy motion optimization of the marine predator algorithm is adopted in the second-step of the path planning.The integrated constraint mechanism is adopted to update the cnstraint strategies dynamically in the searching process,preventing the decrease of the feasible solutions and the stagnation of the searching.Compared with the typical existing constraint mechanisms,the proposed method has a good convergence and stability,and can effectively solve the UAV path planning with the complex multi-constraint.