Unmanned aerial vehicle route planning method based on improved Lycra flying ant lion optimization algorithm

Abstract

The invention discloses an unmanned aerial vehicle flight path planning method based on an improved left flight ant lion optimization algorithm. The method mainly comprises the following steps: step 1, establishing a flight path planning space mathematical model of the unmanned aerial vehicle, and initializing flight path planning environment parameters; 2, constructing a flight path evaluation function; 3, initializing ant and ant lion populations, calculating a target fitness function of the ant lion position, storing the optimal ant lion position, and introducing a left flight strategy intoant random walk of an ant lion algorithm; step 4, aiming at the ant walking form, applying a self-adaptive walking boundary strategy; 5, applying a self-adaptive optimal guide equation strategy according to the form that the ant lion approaches the elite ant lion; step 6, carrying out an active Gaussian variation strategy on the ant lion; and step 7, sorting the ant lion positions according to the good and bad sequence of the flight path, readjusting the optimal ant lion position, and when the output condition of the algorithm is met, obtaining the flight path with the minimum planning cost.

Description

technical field [0001] The invention relates to the field of trajectory planning, and uses UAV trajectory planning technology and intelligent algorithm technology, and combines the optimal requirements of UAV trajectory planning, and proposes a UAV trajectory planning algorithm with practical significance. Background technique [0002] Track planning is a crucial step in the UAV mission planning system. The essence of track planning is to plan the safest flight track for the aircraft performing the mission. The quality of the track will directly determine the success or failure of the combat mission. To plan an effective and reasonable flight path for a UAV, it is necessary to comprehensively consider the performance of the UAV itself, the longest flight distance, fuel consumption, terrain and gas phase threats. Based on these constraints, it is necessary to find out the optimal trajectory between the starting point and the target point within the flight range of the UAV, so...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose a UAV track planning method based on levy flight combined with antlion optimization algorithm in view of the slow convergence speed of the standard antlion algorithm in the later stage of iteration, easy to fall into local optimum and low search accuracy.

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