摘要
无人直升机在规划巡线线路时,由于不满足无人机的机械性能或有撞山风险,需经常对路径进行局部规划,本文将遗传算法应用于无人直升机局部路径规划。针对遗传算法在进化过程中容易出现大量无效路径,导致进化效率低下,运算时间长的情况,设计了路径修复机制,引入插入算子和删除算子,有效提高了运算效率。试验结果表明这种方法能够很好的解决无人直升机在电力巡线中的局部路径规划问题。
When the unmanned helicopter is planning the path,because it does not meet the mechanical performance of the drone or the risk of collision,it is necessary to replan part of the path frequently.This paper applies the genetic algorithm to the partial path planning of the UAV.Aiming at the fact that genetic algorithm is prone to a large number of invalid paths in the evolution process,resulting in low efficiency and long operation time,the path repair mechanism is designed,and the insertion operator and deletion are introduced.The operator effectively improves the efficiency of the operation.The test results show that this method can solve the problem of local path planning of UAV in power line inspection.
作者
周毅
李东武
孟浩
姜如康
傅宁
ZHOU Yi;LI Dong-wu;MENG Hao;JIANG Ru-kang;FU Ning(Tianjin Zhongwei Aerospace Data System Technology Co.,Ltd.,TianJin 300301 China)
出处
《自动化技术与应用》
2021年第2期29-33,共5页
Techniques of Automation and Applications
关键词
无人机
三维栅格地图
遗传算法
路径修复
UAV
three-dimensional grid map
Genetic Algorithm
path restoration
