Unmanned aerial vehicle three-dimensional path planning method based on multi-strategy improved particle swarm optimization algorithm

Abstract

The invention relates to an unmanned aerial vehicle path planning method and specifically relates to an unmanned aerial vehicle three-dimensional path planning method based on multi-strategy improvedparticle swarm optimization algorithm. Simulation modeling is carried out for two real terrains: a hilly terrain and a mountain terrain, inertia weight based on linear decreasing and a Logistic mapping function in a chaos strategy are imported into the particle swarm optimization algorithm, and survival of the fittest strategy is employed for individuals with low adaptive values in an optimizationprocess, thereby providing a new improved IPSO algorithm. An experiment result shows that under the hilly terrain, planned path length of the provided IPSO algorithm is reduced by 5.2% relative to that of AWPIO, and the planned path length of the IPSO algorithm is reduced by 5.9% relative to that of PSO; time consumption of the IPSO algorithm is reduced by 5.25% relative to that of the AWPIO, andthe time consumption of the IPSO algorithm is reduced by 4.15% relative to that of the PSO; under the mountain terrain, the planned path length of the provided IPSO algorithm is reduced by 1.3% relative to that of the AWPIO, the planned path length of the IPSO algorithm is reduced by 2.69% relative to that of the PSO; and the time consumption of the IPSO algorithm is reduced by 24.3% relative tothat of the AWPIO, and the time consumption of the IPSO algorithm is reduced by 26.3% relative to that of the PSO. The IPSO is a smart algorithm relatively applicable to path planning.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and relates to a route planning method for an unmanned aerial vehicle, in particular to a three-dimensional route planning method for an unmanned aerial vehicle based on a multi-strategy improved particle swarm algorithm. Background technique [0002] UAV route planning is mainly used in two environments: two-dimensional environment and three-dimensional environment. The route planning in the two-dimensional environment is mainly used in small areas, and the flying height of the UAV does not change greatly during the entire mission; the route planning in the three-dimensional environment is mainly used in larger areas. In the process of performing the entire mission, the altitude problem should be considered, and there are a large number of climbing and descending operations. At this time, the impact of the flying height of the UAV on energy consumption needs to be considered. [000...

AI Technical Summary

Problems solved by technology

Second, when an individual particle is out of bounds, use two random numbers to limit its range

[0004] The original UAV route planning algorithm more or less has the problem of falling into a local optimal solution during route planning, which leads to the fact that the UAV does not follow the optimal route during the entire flight process.

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