Systems Engineering and Electronics ›› 2022, Vol. 44 ›› Issue (11): 3505-3514.doi: 10.12305/j.issn.1001-506X.2022.11.26
• Guidance, Navigation and Control • Previous Articles Next Articles
UAV online trajectory planning based on MOEA/D-ARMS
Hanyang WANG1, Liang CHEN2,*, Hai XU2, Jingbo BAI1
- 1. College of Field Engineering, Army Engineering University, Nanjing 210007, China
2. Automobile NCO Academy, Army Military Transportation University, Bengbu 233011, China
-
Received:2021-07-06Online:2022-10-26Published:2022-10-29 -
Contact:Liang CHEN
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Cite this article
Hanyang WANG, Liang CHEN, Hai XU, Jingbo BAI. UAV online trajectory planning based on MOEA/D-ARMS[J]. Systems Engineering and Electronics, 2022, 44(11): 3505-3514.
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Fig.1
Schematic diagram of online trajectory planning"
Fig.2
Schematic diagram of distance cost"
Fig.3
Schematic diagram of threat cost"
Fig.4
Schematic diagram of population evolution process in two-dimensional decision space"
Fig.5
Schematic diagram of encoding method"
Fig.6
Schematic diagram of threat sources distribution"
Table 1
List of threat source parameters km"
| 编号 | μx | μy | σx | σy | 编号 | μx | μy | σx | σy | |
| 1 | -30 | 10 | 3.0 | 3.0 | 10 | -14 | -10 | 2.4 | 2.4 | |
| 2 | 5 | 0 | 3.0 | 3.0 | 11 | -10 | 20 | 3.0 | 3.0 | |
| 3 | 20 | -10 | 3.0 | 3.0 | 12 | 10 | 30 | 2.1 | 2.1 | |
| 4 | 25 | -5 | 3.0 | 3.0 | 13 | -30 | -10 | 3.3 | 3.3 | |
| 5 | 30 | 0 | 2.7 | 2.7 | 14 | -30 | 40 | 3.9 | 3.9 | |
| 6 | 30 | -40 | 3.0 | 3.0 | 15 | 20 | 20 | 4.5 | 4.5 | |
| 7 | -10 | 40 | 3.0 | 3.0 | 16 | 10 | -20 | 4.5 | 4.5 | |
| 8 | -20 | -30 | 2.7 | 2.7 | 17 | 30 | 40 | 3.0 | 3.0 | |
| 9 | 0 | -30 | 2.1 | 2.1 | - | - | - | - | - |
Fig.7
Trajectory with(ω1, ω2)T=(0.3, 0.7)T under static threat"
Fig.8
Trajectory with (ω1, ω2)T=(0.7, 0.3)T under static threat"
Fig.9
Heading angle with(ω1, ω2)T=(0.3, 0.7)T under static threat"
Fig.10
Heading angle with(ω1, ω2)T=(0.7, 0.3)T under static threat"
Table 2
Comparison of planning results under static threat"
| 偏好 | 规划方法 | 飞行时间/s | 生存概率 | 航向角变化平均值/(°) |
| (ω1, ω2)T=(0.3, 0.7)T | MOEA/D-ARMS | 180 | 0.972 | 7.586 |
| MOEA/D-KF | 186 | 0.969 | 13.029 | |
| (ω1, ω2)T=(0.7, 0.3)T | MOEA/D-ARMS | 169 | 0.934 | 8.000 |
| MOEA/D-KF | 176 | 0.920 | 11.741 |
Fig.11
Trajectory with(ω1, ω2)T=(0.3, 0.7)T under sudden threat"
Fig.12
Trajectory with(ω1, ω2)T=(0.7, 0.3)T under sudden threat"
Fig.13
Heading angle with(ω1, ω2)T=(0.3, 0.7)T under sudden threat"
Fig.14
Heading angle with(ω1, ω2)T=(0.7, 0.3)T under sudden threat"
Table 3
Comparison of planning results under sudden threat"
| 偏好 | 规划方法 | 飞行时间/s | 生存概率 | 航向角变化平均值/(°) |
| (ω1, ω2)T=(0.3, 0.7)T | MOEA/D-ARMS | 330 | 0.973 | 7.82 |
| MOEA/D-KF | 344 | 0.950 | 12.68 | |
| (ω1, ω2)T=(0.7, 0.3)T | MOEA/D-ARMS | 315 | 0.884 | 7.45 |
| MOEA/D-KF | 336 | 0.855 | 13.22 |
Fig.15
Trajectory with (ω1, ω2)T=(0.3, 0.7)T under mutation threat"
Fig.16
Trajectory with(ω1, ω2)T=(0.7, 0.3)T under mutation threat"
Fig.17
Heading angle with(ω1, ω2)T=(0.3, 0.7)T under mutation threat"
Fig.18
Heading angle with(ω1, ω2)T=(0.7, 0.3)T under mutation threat"
Table 4
Comparison of planning results under mutation threat"
| 偏好 | 规划方法 | 飞行时间/s | 生存概率 | 航向角变化平均值/(°) |
| (ω1, ω2)T=(0.3, 0.7)T | MOEA/D-ARMS | 460 | 0.931 | 7.49 |
| MOEA/D-KF | 475 | 0.912 | 12.26 | |
| (ω1, ω2)T=(0.7, 0.3)T | MOEA/D-ARMS | 430 | 0.837 | 7.03 |
| MOEA/D-KF | 443 | 0.809 | 11.93 |
Fig.19
Trajectory planning under preference change"
Fig.20
Heading angle under preference change"
Table 5
Comparison of planning results under preference change"
| 偏好 | 规划方法 | 飞行时间/s | 生存概率 | 航向角变化平均值/(°) |
| (ω1, ω2)T=(0.3, 0.7)T | MOEA/D-ARMS | 442 | 0.896 | 6.42 |
| (ω1, ω2)T=(0.7, 0.3)T | MOEA/D-KF | 450 | 0.871 | 12.16 |
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