Three-dimensional route planning method based on improved fruit-fly optimization algorithm

A fruit fly optimization algorithm and route planning technology, applied in the field of robotics, can solve problems such as limited applicability of coding methods and multiple local optima

Active Publication Date: 2017-08-18
BEIJING UNIV OF TECH
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Problems solved by technology

However, the original fruit fly optimization algorithm has shortcomings such as limited applicability of coding methods and easy to fall into local optimum. Therefore, it is necessary to improve the original algorithm when applying the fruit fly optimization algorithm to solve the three-dimensional route planning problem.

Method used

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  • Three-dimensional route planning method based on improved fruit-fly optimization algorithm
  • Three-dimensional route planning method based on improved fruit-fly optimization algorithm
  • Three-dimensional route planning method based on improved fruit-fly optimization algorithm

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Embodiment Construction

[0099] The embodiment of the present invention provides a three-dimensional route planning method based on the improved fruit fly optimization algorithm, which is used to solve the three-dimensional route planning method of the unmanned aerial vehicle under the complex terrain environment and the threat situation of the battlefield by making improvements to the original fruit fly optimization algorithm, The steps are as follows.

[0100] Preparatory work:

[0101] Determine the UAV flight mission information, including the starting point coordinates (x S ,y S ,z S ) T and the end point coordinates (x T ,y T ,z T ) T , the mission map boundary, the number n of route control points that need to be planned;

[0102] Determine enemy ground weapon information, including threat type (radar, missile, anti-aircraft gun), weapon location (x threat j ,y threat j ) T , and their respective threat areas.

[0103] Set the relevant parameters of the improved fruit fly algorithm,...

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Abstract

The invention discloses a three-dimensional route planning method. The three-dimensional route planning method disclosed by the invention has the advantages that the original fruit-fly optimization algorithm is improved to solve unmanned-plane three-dimensional route planning under the threat situation of complex terrain environments and battlefields, and under the premise of considering complex situations and unmanned-plane performance constraint, the optimal or sub-optimal three-dimensional flying route is calculated for an unmanned plane.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a three-dimensional route planning method based on an improved fruit fly optimization algorithm. Background technique [0002] Route planning is a key component of UAV autonomous control. The goal of route planning algorithm is to calculate the optimal or suboptimal flight route for UAV. This flight route can enable UAV to avoid complex terrain obstacles and Penetrate enemy weapons threats and survive yourself while reaching the target point in less time. The UAV 3D route planning problem is a multi-objective and multi-constraint complex optimization problem, which usually has the following characteristics: 1) There are many indicators to evaluate the route performance, and the objective function is difficult to calculate; 2) The battlefield environment is complex and dynamic; 3 ) There are many constraints on the performance of the drone itself; 4) The amount of info...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张祥银贾松敏李秀智
Owner BEIJING UNIV OF TECH
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