Mixed firework particle swarm synergic method for solving unmanned aerial vehicle constraint route planning

A route planning, unmanned aerial vehicle technology, applied in the direction of navigation calculation tools, etc.

Active Publication Date: 2020-02-25
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method solves the path planning problem of a single object, and does not involve the collaborative path planning problem between multiple objects

Method used

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  • Mixed firework particle swarm synergic method for solving unmanned aerial vehicle constraint route planning
  • Mixed firework particle swarm synergic method for solving unmanned aerial vehicle constraint route planning
  • Mixed firework particle swarm synergic method for solving unmanned aerial vehicle constraint route planning

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Embodiment Construction

[0105] The present invention is further described below in conjunction with specific implementation process, with image 3 Take the environment as an example to illustrate:

[0106] Preparations: Set the flying speed of the UAV as v=1m / s. The parameter values ​​are as follows: the maximum number of iterations NC max =500; safety distance Δd=20; growth rate parameter ξ=15; explosion spark particle constant M=30; proportional parameter β=0.8; fireworks minimum explosion radius A min =20; acceleration constant c 1 =0.8, c 2 =0.8; inertia weight ω=0.9. Let the coordinates of the starting point be S=[50,50], the coordinates of the target point be T=[950,550], and the dimension of fireworks and particles be D=25.

[0107] Step 1: Establish a rotating coordinate system X'-S-Y' with ST as the X' axis, and convert the position coordinates of the starting point, target point and obstacles into the rotating coordinate system. The coordinate conversion formula is as follows:

[0108...

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Abstract

The invention relates to a mixed firework particle swarm synergic algorithm for solving unmanned aerial vehicle constraint route planning. The mixed firework particle swarm synergic algorithm is usedfor solving the problem of unmanned aerial vehicle route planning. The method employs a mode of searching an optimal path by two groups in a parallel and independent way, one of the groups employs animproved firework algorithm to search, and the other group employs a particle swarm optimization algorithm. A rough region of an optimal solution is sought in the whole search space by explosion of firework and is provided for particles, a direction is guided for subsequent search of the particles, the particles are used for performing detailed local searching on the region during the iteration process, therefore, the two groups are combined to search, the optimal solution of the planning problem is further obtained. During the whole searching process, a safety path and an unsafety path are divided by setting safety class, the safety class is gradually improved during the iteration process again and again, the search range of the optimal path is further limited in the safety path, and thesafety of the planned path is ensured.

Description

technical field [0001] The invention is a hybrid fireworks particle swarm collaborative algorithm for solving UAV-constrained route planning, and belongs to the technical field of intelligent robot navigation and control and intelligent optimization. Background technique [0002] Path planning is an important research direction of robot navigation technology. UAV route planning is to calculate the optimal or suboptimal flight trajectory of the UAV from the starting point to the target point in an appropriate time under the comprehensive conditions of the range and flight environment constraints, so that the unmanned The function avoids enemy threats and environmental obstacles, and safely completes predetermined tasks. With the rapid development and wide application of unmanned aerial vehicle (UAV) technology, under the condition that modern air defense technology is becoming more and more perfect, relying solely on manual operation of unmanned aerial vehicles for route pla...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张祥银夏爽李秀智
Owner BEIJING UNIV OF TECH
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