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Unmanned aerial vehicle path planning method based on parallel heuristic algorithm

A heuristic algorithm and path planning technology, which is applied in the direction of vehicle position/route/height control, non-electric variable control, instruments, etc., to achieve the effect of increasing convergence speed, improving diversity and accuracy, and realizing dynamic path planning

Inactive Publication Date: 2018-12-18
CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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Problems solved by technology

The method provided in the present invention is different from the notable features of the existing methods in that: one: based on the concept of parallel search mechanism, aiming at the search mechanism of the particle swarm algorithm, combined with local search, adding a search method to improve the diversity of the algorithm population, both to ensure The global search ability and parallel computing speed of the algorithm are improved, and the mining ability of the algorithm is enhanced, and the accuracy of the algorithm is improved. Multiple planning mechanism is adopted to solve single-objective real-time dynamic programming problems, which can better adapt to changes in complex environments

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  • Unmanned aerial vehicle path planning method based on parallel heuristic algorithm
  • Unmanned aerial vehicle path planning method based on parallel heuristic algorithm
  • Unmanned aerial vehicle path planning method based on parallel heuristic algorithm

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[0046] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0047] A method for path planning based on a parallel heuristic algorithm proposed in this embodiment, such as figure 1 As shown, it contains two parts. One is to model the UAV path planning problem and obtain the cost function for evaluating the quality of the path. The other is to use the parallel heuristic algorithm to obtain the flight path of the UAV. The following two parts The contents are explained separately.

[0048] (1) Modeling the UAV path planning problem.

[0049] Step A, mathematically modeling the operating environment of the UAV.

[0050] Such as Figure 4 As shown, the path planning is carried out in the two-dimensional plane, and the UAV flies from the starting point S to the terminal T to perform the task. A global coordinate system O-XY is established in the path planning area, and a path is formed by N points. The p...

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Abstract

The invention discloses an unmanned aerial vehicle path planning method based on a parallel heuristic algorithm. The unmanned aerial vehicle path planning method based on the parallel heuristic algorithm uses a mechanism combining global search and local optimization to push the algorithm to make a cost function generate a step-down tendency as the iteration progresses; so that the algorithm can search for a better solution of a cell in a global environment, and can continue local mining around the searched better solution; therefore, the diversity and accuracy of the algorithm is improved.

Description

technical field [0001] The invention belongs to the technical field of UAV path planning. It specifically relates to a UAV path planning method based on a parallel heuristic algorithm. Background technique [0002] With the development of the aviation industry and the Haitian-air integration battlefield situation, UAVs are rapidly expanding in military and civilian applications. Due to the complexity of the flight environment and mission requirements, the development of future UAVs will have higher and higher requirements for autonomy. Path planning is one of the key technologies for autonomous navigation of UAVs. At present, the algorithms used in UAV path planning include A*, Dijkstra algorithm, particle swarm algorithm, ant colony algorithm and genetic algorithm. These algorithms either use continuous local search to find a better location to form a complete path, or use the social exchange of information between groups to search for a complete path. However, these al...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 陈聪杨永胜康敏旸刘青春
Owner CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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