Aircraft route planning method and device on the basis of pigeon colony algorithm
A trajectory planning and aircraft technology, which is applied in the field of unmanned aerial vehicle trajectory planning and multi-attribute decision-making, can solve the problems of time-consuming, poor path stability, and failure to consider uncertain conditions, etc., to achieve good path stability and strong sticky effect
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[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0037] In the present invention, in the trajectory model of the aircraft, when predicting the next flight position, different sources of uncertainty, such as wind, change of heading angle, starting and ending operating position points, etc. are considered, and then the pigeon flock algorithm is used to optimize the path. Finally, the optimal path is selected.
[0038] In the trajectory model of the embodiment of the present invention, in order to limit the search space within a "reasonable" range, it is considered that there are three-step operations from the starting point to the destination, that is, changing the heading angle three times. like figure 1 shown, the flight distance d 0 Carry out the first operation to change the heading angle α, for the distance d 0 There is uncertainty parameter distance error ε 0 , which means that the a...
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