摘要
针对标准粒子群算法因为惯性因子固定导致航迹规划不理想,以及固定斜率粒子群算法惯性因子斜率调节不灵活的问题,在算法中引入折线斜率惯性因子形式,使其斜率根据需要可以进行灵活调节,提高算法对旋翼无人机三维航迹的规划成功率,且减小航迹长度。首先,根据旋翼无人机实际飞行环境建立三维果园环境模型,根据路径长度、躲避障碍、飞行范围和航迹高度范围来构造适应度函数;然后,分析了标准和固定斜率粒子群算法的原理,找到了算法的缺陷,对其进行了改进,并给出了详细的实现步骤。数据对比显示:在进行旋翼无人机三维航迹规划时,相比于其他两种粒子群算法,折线粒子群算法对于航迹规划的成功率和航迹长度有明显改善。
For the problem that the standard particle swarm algorithm is not ideal for track planning due to the fixed inertia factor,and the fixed slope particle swarm algorithm is inflexible to adjust the slope of the inertia factor,a polyline slope inertia factor is introduced into the algorithm,so that the slope can be flexibly adjusted as needed,to improve the success rate of the algorithm for planning the three-dimensional track of the rotor UAV,and reduce the length of the track.Firstly,a three-dimensional orchard environment model is established according to the actual flight environment of the rotor UAV,and the fitness function is constructed according to the path length,obstacle avoidance,flight range and track height range.Then,the principles of standard and fixed slope particle swarm algorithms are analyzed,the defect of the algorithm is found and improved,and the detailed implementation steps are given.The data comparison shows that in the 3 D trajectory planning of the rotor UAV,compared with the other two particle swarm optimization algorithms,the polyline particle swarm optimization algorithm has significantly improved the success rate and length of the trajectory planning.
作者
辛守庭
赵冠宇
王晓光
谷海红
XIN Shouting;ZHAO guanyu;WANG Xiaoguang;GU Haihong(Aeronautical Engineering Institute,Anyang University,Anyang 455000,China;Department of Mechanical Engineering,Case Western Reserve University,Cleveland 44106,USA;Hebi Institute of Engineering and Technology,Henan Polytechnic University,Hebi 458030,China)
出处
《飞行力学》
CSCD
北大核心
2022年第5期47-52,73,共7页
Flight Dynamics
基金
2021年河南省科技攻关项目资助(212102310550,212102310488)
河南省高等学校重点科研项目(23A590005)。
