Universal gravitation search-based unmanned plane air route planning method

Abstract

The invention discloses a universal gravitation search-based unmanned plane air route planning method, which comprises the following eight steps: 1, establishing an unmanned plane air route planning mathematical model; 2, setting initialization improved universal gravitation search algorithm parameters and battlefield environmental parameters; 3, randomly initializing N routes and initial positions and accelerated speeds of various particles, and establishing a rotating coordinate system; 4, calculating threat cost of each route according to threat information and the mathematical model; 5, updating inertial mass Mi(t) of the particles according to a weight-based rule; 6, calculating the sum of accelerated speeds of each particle in all directions according to a universal gravitation standard, and updating the speeds of the particles according to a group information speed updating rule; 7, updating the position of each particles according to the updated speed of each particle and the choice of survival of the fittest; and 8, if the number of iterations is greater than the maximum number of iterations, exiting a circulation, otherwise, returning to the step 4 for next iteration. The obtained optimal air route coordinate is subjected to coordinate inverse transformation and a result is output.

Description

(1) Technical field [0001] The invention proposes a UAV route planning method based on gravitational search, which belongs to the technical field of robots. (2) Background technology [0002] Unmanned Aerial Vehicle (UAV) is a powered, controllable, unmanned tactical aircraft that can carry multiple mission equipment, perform multiple combat missions, and be reusable. Due to its zero casualty risk and high mobility and other advantages, it has attracted great attention from the military of various countries. Path Planning, as a key component of the UAV mission planning system, aims to calculate and select the optimal or suboptimal flight route within an appropriate time, so as to rationally allocate UAV combat resources and achieve The maximum combat effectiveness of the UAV plays a vital role. At present, the research on route planning technology at home and abroad is further developing in the direction of intelligence, real-time, and realizability, but it is basically st...

AI Technical Summary

Problems solved by technology

However, the use of genetic algorithms in route planning may be relatively time-consuming and generally not suitable for real-time planning. However, the current computing system is serial, and genetic algorithms have implicit parallelism, which makes them very useful. great development potential

The disadvantage of this algorithm is that it is difficult to select genetic factors and control parameters, and the algorithm may sometimes converge prematurely and stagnate.

However, the basic gravitational search algorithm has shortcomings such as long search time and easy to fall into local optimal solutions. Therefore, it must be improved when applying the gravitational search algorithm to solve the UAV route planning problem.

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