基于多精度规划窗口的无人机航迹规划方法研究

doi:10.12305/j.issn.1001-506X.2024.05.29

Abstract

Abstract:

Path planning plays a significant role on the unmanned aerial vehicle (UAV) mission planning. It is aiming at finding a safest UAV trajectory of optimal flying cost, considering the battlefield environment and other mission requirements. Based on the parallel ability of ant colony optimization (ACO) algorithm, a multi-precision planning window method is proposed. Based on the initial trajectory, it can automatically set multiple local planning windows with specifical planning precisions and optimization parameters, and then parallel path modification in a short time. Simulation analysis shows that the algorithm parameters configuration and planning accuracy are different in different battlefield environments. Through the optimization and adjustment of multi-precision planning window, the final flight path can adapt to different battlefield environment, and has better planning efficiency and accuracy.

Key words: unmanned aerial vehicle (UAV), path planning, ant colony optimization (ACO) algorithm, multi-precision optimization, optimization algorithm

CLC Number:

TP391

Jing YU, Xiaojun WU, Anlin JIANG, Enmi YONG. Research on UAV path planning method based on the multi-precision planning windows[J]. Systems Engineering and Electronics, 2024, 46(5): 1767-1776.

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坐标参数	雷达			火力		地形		气象		禁飞区
坐标参数	1	2	3	4	5	6	7	8	9	10
X轴坐标/km	520	460	200	420	340	120	80	240	320	420
Y轴坐标/km	260	500	540	100	340	80	360	400	200	340
威胁半径/km	120	120	120	100	100	10	10	10	10	10

参数	数值
种群数量	100
α	1
β	7
ρ	0.3
Q	10
最大迭代次数	400

参数	算例编码
参数	A-1	A-2	A-3
w₁	0.8	0.5	0.2
w₂	0.2	0.5	0.8
航程/km	539.41	539.41	539.41
归一化航程	0.899	0.899	0.899
威胁代价	0	0	0
归一化威胁	0	0	0
总代价	0.719 2	0.449 5	0.179 8

参数	算例编码
参数	B-1	B-2	B-3
w₁	0.8	0.5	0.2
w₂	0.2	0.5	0.8
航程/km	366.27	382.842 7	411.13
归一化航程	0.610 5	0.638 1	0.685 2
威胁代价	4.030 9	3.679 9	3.465 9
归一化威胁	0.806 2	0.736 0	0.693 2
总代价	0.649 6	0.687 0	0.691 6

参数	算例编码
参数	A-4	A-5(即A-2)	A-6
精度/km	40×40	20×20	10×10
规划时间/s	21.70	27.46	107.71
航程/km	555.98	539.41	563.553 4
归一化航程	0.926 6	0.899 0	0.939 3
威胁代价	0.428 0	0	0.367 9
归一化威胁	0.042 8	0	0.036 8
总代价	0.484 7	0.449 5	0.488 0

Research on UAV path planning method based on the multi-precision planning windows

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