A Multi-track Planning Method for UAV Based on Sequential Niche Particle Swarm Optimization Algorithm

Abstract

The invention relates to an unmanned plane multi-track planning method based on a sequence ecological niche PSO (particle swarm optimization) algorithm, and belongs to the technical field of unmanned plane multi-track planning. The method comprises the steps: carrying out the modeling of a to-be-planned problem, and constructing a track cost function and a constraint condition; carrying out the first planning of a model through employing the PSO algorithm, and obtaining a first track; updating a cost function model nearby a current optimal track through combining the technology of sequence ecological niche, and increasing the cost values of other optimal tracks in the sequence ecological niche; carrying the next planning of the updated model through employing the PSO algorithm, and obtaining a sub-optimal track; repeatedly carrying out the above two steps, sequentially finding the optimal track and the sub-optimal track of an initially constructed cost function model, ending the algorithm when the number of found tracks is enough, and outputting a multi-track result meeting the requirements of the task. The method can solve a problem that a single track is not feasible because the changes of an actual environment and unknown, and can provide a preset track for multiple unmanned plane cooperative tasks.

Description

technical field [0001] The invention relates to a multi-track planning method for an unmanned aerial vehicle based on a sequence niche particle swarm algorithm, and belongs to the technical field of multi-track planning for an unmanned aerial vehicle. Background technique [0002] The UAV (Unmanned Aerial Vehicle, UAV) trajectory planning problem is to plan a path for the UAV to make the flight range, arrival time, fuel consumption and other costs relatively small under the constraints of flight performance, terrain, and threats. flight track to ensure the successful completion of the flight mission. In the actual trajectory planning process, due to the complexity of the actual environment, it is difficult for UAVs to obtain all threat and environmental information in advance, and these factors may also change in real time, which may lead to the failure of the pre-planned single optimal route. The trace cannot be used while the drone is performing a mission. On the other h...

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Problems solved by technology

[0011] Aiming at the problems of large amount of calculation and poor timeliness in the multi-track planning of unmanned aerial vehicles in the standard niche technology, the present invention proposes a multi-track problem planning method for unmanned aerial vehicles based on the sequence niche technology PSO algorithm, and A method for determining the radius of a niche for such problems is designed

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