[an error occurred while processing this directive] [an error occurred while processing this directive] [an error occurred while processing this directive]
[an error occurred while processing this directive]

弹箭与制导学报 >

2022 , Vol. 42 >Issue 6: 68 - 74

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2022.06.010

基于空间变形的无人机路径规划算法研究

  • 肖志慧 1 ,
  • 刘久富 1 ,
  • 王志胜 1 ,
  • 赖幸君 2 ,
  • 林磊 2
展开
  • 1 南京航空航天大学自动化学院,南京 210016
  • 2 国家无线电监测中心检测中心,北京 100041

肖志慧(1997—),女,安徽蚌埠人,硕士研究生,研究方向:无人机路径规划。

收稿日期: 2022-09-26

  网络出版日期: 2025-02-25

收起

Research on UAV Path Planning Algorithm Based on Space Deformation

  • XIAO Zhihui 1 ,
  • LIU Jiufu 1 ,
  • WANG Zhisheng 1 ,
  • LAI Xingjun 2 ,
  • LIN Lei 2
Expand
  • 1 College of Automation Engineering,Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • 2 The State Radio Monitoring Center Testing Center, Beijing 100041, China

Received date: 2022-09-26

  Online published: 2025-02-25

Fold

摘要

由于所处的环境较为复杂,因此无人机进行安全的路径规划至关重要,但规划生成的路径中有许多不适用的急转弯。针对此问题,使用基于空间变形的混合算法,即通过灰狼算法获得全局路径,利用空间变形算法获得最佳规划路径,以保证无人机的安全飞行。仿真结果表明,该方法能够顺利实现无人机的路径规划,且具有较好的平滑性和安全性,验证了所提算法的优越性。

关键词： 空间变形; 灰狼算法; 路径平滑; 路径规划

本文引用格式

肖志慧 , 刘久富 , 王志胜 , 赖幸君 , 林磊 . 基于空间变形的无人机路径规划算法研究[J]. 弹箭与制导学报, 2022 , 42(6) : 68 -74 . DOI: 10.15892/j.cnki.djzdxb.2022.06.010

Abstract

Due to the complex environment of unmanned aerial vehicles(UAV), safe path planning is very important. Most of the planned paths have many sharp turns that are not applicable. To address this problem, a hybrid algorithm based on spatial deformation is used to obtain the best planning path. The algorithm uses the spatial deformation algorithm to obtain the optimal planning path to ensure the safe flight of UAV. The final simulation results show that this method can successfully realize the path planning of UAV, and has good smoothness and security, which verifies the superiority of the proposed algorithm.

Key words： space deformation; gray wolf algorithm; path smoothing; path planning

[an error occurred while processing this directive]

参考文献

原文顺序 | 文献年度倒序 | 文中引用次数倒序
[1]
ZUO K J, CHENG X, ZHANG H. Overview of obstacle avoidance algorithms for UAV environment awareness[J]. Journal of Physics: Conference Series, 2021(4): 4200-4208.

[2]
EKHAGUERE D E, ANNATI R E, GERLOCK D L, et al. Systems and methods for unmanned aerial vehicle navigation: US8543265 B2[P]. 2021-08-11.

[3]
陈麒杰, 晋玉强, 韩露. 无人机路径规划算法研究综述[J]. 飞航导弹, 2020(5):5-11.

[4]
徐钊, 胡劲文, 马云红, 等. 无人机碰撞规避路径规划算法研究[J]. 西北工业大学学报, 2019, 37(1):100-106.

[5]
郝东晨. 基于视觉SLAM的无人机路径规划技术研究[D]. 成都: 电子科技大学, 2021.

[6]
张智杰, 羊钊, 陆佳欢. 城市复杂环境下多目标无人机路径规划[J]. 航空计算技术, 2021, 51(6):79-83.

[7]
吴振, 吴红兰. 基于改进遗传算法的无人机航路规划[J]. 电子测量技术, 2021, 44(24):52-58.

[8]
焦庆宇, 陈新锋, 郑志刚, 等. 基于人群密度风险的无人机动态路径规划研究[J]. 地理科学进展, 2021, 40(9):1516-1527.

DOI

[9]
田广键, 代冀阳, 应进, 等. 基于自适应分段势场法的多无人机航迹规划[J]. 系统仿真学报, 2022, 34(11):2368-2376.

DOI

[10]
张瀚, 解明扬, 张民, 等. 融合DDPG算法的移动机器人路径规划研究[J]. 控制工程, 2021, 28(11):2136-2147.

[11]
YAN T, YONG Z, WANG B. Path planning for mobile robot’s continuous action space based on deep reinforcement learning[C]// IEEE. Proceedings of the 2018 International Conference on Big Data and Artificial Intelligence (BDAI). New York: IEEE, 2018: 1113-1119.

[12]
于盛. 基于强化学习多无人机路径规划算法研究及实现[D]. 哈尔滨: 哈尔滨工业大学, 2020.

[13]
LIU Q, SHI L, SUN L, et al. Path planning for UAV-mounted mobile edge computing with deep reinforcement learning[J]. IEEE Transactions on Vehicular Technology, 2020, 69(5): 5723-5728.

[14]
张启钱, 许卫卫, 张洪海, 等. 复杂低空物流无人机路径规划[J]. 北京航空航天大学学报, 2020, 46(7):1275-1286.

[15]
胡莘婷, 吴宇. 面向城市飞行安全的无人机离散型多路径规划方法[J]. 航空学报, 2020, 40(1):11-17.

[16]
ZHANG X, LIU Y, ZHANG Y, et al. Safety assessment and risk estimation for unmanned aerial vehicles operating in national airspace system[J]. Journal of Advanced Transportation, 2018, 2018: 1-11.

[17]
FENG L, KATUPITIYA J. Radial basis function-based vector field algorithm for wildfire boundary tracking with UAVs[J]. Computational and Applied Mathematics, 2022, 41(3): 98-107.

[18]
CHENG P, HUI Z, et al. An improved skewness balancing filtering algorithm based on thin plate spline interpolation[J]. Applied Sciences, 2019, 9(1): 203-215.

[19]
柳长安, 王晓鹏, 刘春阳, 等. 基于改进灰狼优化算法的无人机三维航迹规划[J]. 华中科技大学学报(自然科学版), 2017, 45(10):38-42.

Options
文章导航

/

〈 〉

[an error occurred while processing this directive]