一种改进的无人机多目标航迹规划研究

无人机多目标作战对航路具有很高要求。航路规划因受任务安全性、隐蔽性以及航距等要素的影响，往往存在主观性强、算法复杂、权重量纲不一等问题。为克服传统基于权值的评价函数所固有的量纲不一致，主观性强，优度进展不可控等缺陷，增强无人机对地面的打击效果，提升作战效能，采用Pareto最优解思想，采用快速非支配排序算法，以航迹长度、隐蔽性、安全性作为具体评价指标，研究了利用NSGA-Ⅱ算法来优化无人机多目标任务的航路规划问题，并进行了仿真验证。得到的最优Pareto解普遍达到了较优秀水平，并且不同的Pareto解都具有各自的优势，分别适应不同的任务需求，该方法在无人机航路规划上具有良好的灵活性和适应性。

A Study on Improved UAV Multi-object Track Planning

Multitarget operations of UAV have high requirements for the route. The planning of the route is easily affected by the security, concealment and distance of the mission. There are many problems such as strong subjectivity, complex algorithm and different weight class. In order to overcome the shortcomings of traditional weight based evaluation functions, such as inconsistent dimension, strong subjectivity and uncontrollable progress, it is necessary to enhance the combat effectiveness of UAV on the ground and enhance operational effectiveness. The idea of Pareto optimal solution is adopted. Using fast non dominated sorting algorithm, taking track length, concealment and safety as specific evaluation indicators, we studied the path planning problem of multi-target mission optimization using NSGA- II algorithm, and verified it by simulation. The obtained optimal Pareto solutions generally reach a better level, and the different Pareto solutions have their own advantages. These advantages are adapted to different task needs respectively. This method has good flexibility and adaptability in unmanned aerial vehicle route planning.