欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
基于免疫遗传算法的原理，建立了一种在三维复杂地形下，协同考虑地面等待和任务执行两阶段的无人机航路规划模型。首先，使用了生成三维等效地形图的方法；其次，根据所得的地形图，提出了一种改进的分组寻优免疫遗传算法用于搜索最优航路，提高了搜索效率。该算法先用预处理解空间和免疫记忆特性的方法来产生初始解群体，再用免疫遗传算法的特性搜索满足无人机机动特性约束的航路点集，最后使用准均匀B样条曲线，将航路点连接起来的有向线段进行修改、光顺，使航路安全可飞。仿真的结果证明采用的模型是合理有效的。
英文摘要：
This paper uses the immune genetic algorithm to establish a path planning model of UAV, considering before performing scout task and on performing task, under a kind of complex 3-D terrain environment. First, we construct the 3-D equivalent relief map. Secondly, we propose an improved and grouping search immune genetic algorithm to look for the best air route based on our relief map. It improves the efficiency of search. The algorithm uses the way of pretreatment solution space and immune memory trait to initialize solution set. Then, it searches air route point set which satisfies maneuver characteristic of UAV. Finally, it applies quasi-homogenous 13-spline curve to connecting the air route points. The 13-spline curves have the trait of continuity, end geometric characteristic, uniform curvature, and so on. So it makes air route safety and flyable. In the end, the simulation results show the algorithm is an effective path planning method.
同期刊论文项目
同项目期刊论文
期刊信息
位置：