Unmanned aerial vehicle flight track planning method based on flying fish algorithm

Abstract

The invention relates to an unmanned aerial vehicle flight track planning method based on a flying fish algorithm and belongs to the field of unmanned aerial vehicle flight control. The method comprises the steps of establishing an unmanned aerial vehicle flight motion model and designing a spherical coordinate system motion attitude vector; establishing a flight track evaluation function throughutilization of an efficiency value of a detection probability and an unmanned aerial vehicle reward and punishment mechanism, discretizing continuous flight actions of an unmanned aerial vehicle, andoptimizing a flight track evaluation function value at each moment by taking time as an interval through utilization of the flying fish algorithm; updating a flying fish population, carrying out iteration through combination of a population flight optimization thought, and generating the optimum action attitude at each moment when iteration optimization operation reaches the maximum iteration times; and controlling the unmanned aerial vehicle according to the optimum action attitude data, and generating an effective and reliable unmanned aerial vehicle flight track. According to the method, through combination of the flying fish algorithm, through utilization of population flight foraging optimization and an interaction platform, global searching capability of the flight track planning method is improved. The method is simple in model, rapid in convergence speed, high in accuracy and high in reliability and is applicable to flight tasks under different occasions.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle track planning method based on the flying fish algorithm, and belongs to the field of unmanned aerial vehicle flight control. Background technique [0002] UAV is an extremely important carrier in the civil and military fields, and track planning is an important technical means for UAV to complete all flight tasks. Trajectory planning is to plan the optimal or satisfactory flight path for the UAV under the premise of comprehensively considering the arrival time, threat and flight area of ​​the UAV to ensure the successful completion of the flight mission. With the increasing complexity of modern technology, the traditional UAV trajectory planning method can no longer meet the actual needs of UAV missions. Developing a reliable and effective trajectory planning method has become a bottleneck for UAVs to complete flight missions efficiently. The current trajectory planning methods mainly include artif...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a UAV trajectory planning method based on the flying fish algorithm in order to solve the problems of weak adaptability, poor reliability, high complexity and slow convergence speed in UAV trajectory planning

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