UAV three-dimensional path design method based on global optimal brainstorming algorithm

Abstract

The invention provides a UAV three-dimensional path design method based on a global optimal brainstorming algorithm. The method comprises steps of firstly, initializing the parameters of an environmental map and a UAV path; secondly, initializing a path population, using a variable included in each individual in the population as a control point of a B spline, and generating a specific path from astarting point to an end point by the control points; designing a cost function by using the flightability, safety and economic factors of the specific path as optimization target, and initializing the weight of the optimization target; and finally, performing iterative optimization on the cost function by the global optimal brainstorming algorithm to obtain the optimal three-dimensional path ofthe UAV. The method satisfies the dynamic constraint condition of the continuous curvature and the maximum curvature of the UAV path, and can quickly obtain a flight path with good flightability, safety and economical efficiency, and the path can be directly used for guiding the actual operation of the UAV, and is not required to be subjected to subsequent smoothening and adjustment.

Description

technical field [0001] The invention relates to the technical field of UAV path planning, in particular to a three-dimensional UAV path design method based on a global optimal brainstorming algorithm. Background technique [0002] With the advancement of science and technology, autonomous systems are gradually replacing manual operations. UAVs have the advantages of low cost, low risk, no casualties, reliability and flexibility, and are increasingly used in military and civilian fields. Path planning has become one of the concerns in the development of autonomous systems. Among them, the flight path planning of UAVs in complex three-dimensional hostile scenes is the basic problem faced by UAVs when maneuvering. Flyable path planning is to consider the flightability of the UAV's own dynamic constraints on the one hand, and to meet the requirements of safety and speed in complex 3D environments on the other hand. [0003] A number of UAV path planning methods are currently ...

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Problems solved by technology

[0005] Aiming at the technical problems of the flightability of the UAV itself under dynamic constraints in the current flight path planning of the UAV and the technical problem that the UAV cannot fly safely and quickly in a complex 3D environment, the present invention proposes a method based on the global optimal mind. The three-dimensional UAV path design method based on the storm algorithm first takes the control point of the B-spline curve as the optimization variable, and takes the flightability, safety and economic factors of the UAV path as the optimization objectives to carry out global path optimization modeling. Then, the global optimal brainstorming algorithm is used to optimize the three-dimensional complex path of the UAV, which solves the technical problem of the global optimal path optimization design of the UAV in complex 3D scenes

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