基于狼群算法的无人机航迹规划

Track Planning for Unmanned Aerial Vehicles Based on Wolf Pack Algorithm

随着无人机可执行任务的多样化,航迹规划成为其顺利完成任务的基本前提。针对该问题,提出了基于狼群算法的无人机航迹规划方法。运用等效地形模拟方法,将作战区域中的敌方威胁、地形障碍等效为山峰,构建了无人机航迹规划的场景。以此为基础,采用抽象出游走、召唤和围攻3种智能行为的狼群算法,对起始点和终点已知的无人机航迹进行规划,规划出的航迹安全地避开了威胁,长度较短,且平均耗时较小。仿真结果验证了该算法的有效性。

Along with the diversification of missions that unmanned aerial vehicles(UAV) can carry out, track planning becomes basic precondition of UAV fulfilling missions successfully. Aiming to these, a method of track planning based on Wolf Pack Algorithm(WPA) was proposed. The method of equivalent terrain simulation was used to make enemy's threatens and terrain obstacles equal to peaks, thus the scene of track planning of UAV was built. Based on the scene, the WPA that extracted three intelligent behaviors including scouting, summoning and beleaguering was adopted to plan the track of UAV, whose start point and end point had been known. The track that planned out avoids obstacles safely, has short length and costs little average time. Simulation results show the validity of the method.