基于改进流体扰动算法与灰狼优化的无人机三维航路规划

针对复杂地形环境下的无人机三维航路规划问题, 提出一种基于改进的扰动流体动态系统与灰狼优化理论的混合航路规划算法. 构建改进的扰动流体动态系统数学模型, 通过修正初始汇流得到扰动流场, 流场流线即可看作规划航路, 能有效避免驻点、局部陷阱等问题. 通过模拟灰狼群体的等级制度和捕食策略, 并引入个体记忆功能和优胜劣汰选择规则, 对障碍物反应系数进行寻优. 仿真结果表明, 规划出的三维航路平滑、可飞, 具有良好的避障特性.

Three-dimensional path planning for UAV based on improved interfered fluid dynamical system and grey wolf optimizer

By combining the improved interfered fluid dynamical system and grey wolf optimizer, a hybrid method is adopted for three-dimensional path planning of the unmanned aerial vehicle(UAV) in complex terrain environment. The improved interfered fluid dynamical system is mathematically modeled. By modifying the original flow, the disturbed fluid is obtained, where the streamlines can be regarded as planned paths. The problems of the stagnation point and the partial trap can be solved effectively. Then, by imitating the hierarchy and predation strategy of wolf pack, as well as the individual memory and the rules of survival of the fittest, the reactive parameters of obstacles are optimized. Simulation results show that the planned three-dimensional route is smooth, feasible and of good obstacle avoidance behavior.