改进蛇优化驱动的无人机三维航迹规划

Improved Snake Optimization-Driven 3D Path Planning for UAVs

为解决无人机在有威胁的三维空间中的航迹规划问题,提出一种改进的蛇优化(ISO)算法,以解决无人机在三维复杂环境下具有挑战性的航迹规划优化问题。首先构建包含航程、威胁、高度和平滑成本的总成本函数,将无人机航迹规划转化为兼顾其安全运行需求的优化问题。在蛇优化(SO)框架下,提出采用Tent混沌映射初始化种群,动态调整温度阈值以提高算法局部寻优能力,在开发阶段引入Lévy飞行策略以提高算法全局寻优能力。仿真结果表明,ISO算法在求解无人机航迹规划问题方面优于SO算法。

In order to solve the path planning of unmanned aerial vehicles(UAVs)in three-dimensional space under threats,an improved snake optimization(ISO)algorithm is proposed for the challenging optimization of UAVs path planning in three-dimensional complex environments.Firstly,the total cost function including range,threat,altitude and smoothing costs is established,and the path planning of UAVs is transformed into an optimization issue that takes into account the safe operation requirements of UAV.In the framework of snake optimization(SO),Tent chaotic map is used to initialize the population,and the temperature threshold is dynamically adjusted to improve the local optimization ability of the algorithm,and Lévy flight strategy is introduced in the exploitation phase to improve the global optimization ability of the algorithm.The simulation results show that the ISO algorithm is superior to the SO algorithm by solving the path planning of UAVs.