A UAV track planning method based on flying fish algorithm

Abstract

The invention relates to an unmanned aerial vehicle track planning method based on the flying fish algorithm, and belongs to the field of unmanned aerial vehicle flight control. Including establishing the flight motion model of the UAV, designing the motion attitude vector of the spherical coordinate system; constructing the track evaluation function by using the effectiveness value of the detection probability and the reward and punishment mechanism of the UAV, discretizing the continuous flight action of the UAV, and taking time as the interval , use the Flying Fish algorithm to optimize the value of the track evaluation function at each moment; update the Flying Fish population, and iterate with the idea of ​​population flight optimization, when the iterative optimization operation reaches the maximum number of iterations, generate the optimal action posture at each moment; The optimal motion attitude data controls the drone and generates an effective and reliable flight path of the drone. The invention combines the Flying Fish algorithm, utilizes the swarm flight foraging optimization and interactive platform, and enhances the global search ability of the track planning method. flight mission.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle track planning method based on the flying fish algorithm, and belongs to the field of unmanned aerial vehicle flight control. Background technique [0002] UAV is an extremely important carrier in the civil and military fields, and track planning is an important technical means for UAV to complete all flight tasks. Trajectory planning is to plan the optimal or satisfactory flight path for the UAV under the premise of comprehensively considering the arrival time, threat and flight area of ​​the UAV to ensure the successful completion of the flight mission. With the increasing complexity of modern technology, the traditional UAV trajectory planning method can no longer meet the actual needs of UAV missions. Developing a reliable and effective trajectory planning method has become a bottleneck for UAVs to complete flight missions efficiently. The current trajectory planning methods mainly include artif...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a UAV trajectory planning method based on the flying fish algorithm in order to solve the problems of weak adaptability, poor reliability, high complexity and slow convergence speed in UAV trajectory planning

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