Unmanned aerial vehicle flight path planning method based on IB-ABC algorithm

A flight path and UAV technology, applied in the field of UAV flight path planning based on the improved IB-ABC algorithm, can solve the limitations of reducing local search capabilities, difficult to realize UAV flight path planning, and ignoring global search capabilities And other issues

Active Publication Date: 2021-03-12
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to better reflect the advantages of this local search, Chiang et al. proposed a discrete optimized nectar source algorithm (DfABC), which is adjusted together with the core parameters of SVM, which strengthens the classification accuracy and convergence speed, but reduces the accuracy to a certain extent. Local search ability; Rosenbrock et al.’s follow-bee rotation direction strategy, Alatas’s chaos theory, etc. use different search strategies to strengthen the local search ability of the ABC algorithm; Cui et al. combined the advantages of the DE algorithm and proposed the D-ABC algorithm, which reduces the In the early search stage, there is a high probability of falling into the local optimal risk, but these improvements to enhance the local search ability ignore the limitation of the ABC algorithm on the global search ability
[0006] In summary, the ABC algorithm has the advantages of overcoming local optima, fast convergence speed, and high precision in solving the MOOP problem of UAV path planning, but it also has its own limitations.
Since the ABC algorithm emphasizes the roulette wheel strategy and scout bees to avoid premature convergence, and only selects the optimal solution based on the results, ignoring the influence of internal feedback information on iteration, there are certain deficiencies in global search, and it is difficult to achieve effective UAV flight path planning

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Embodiment Construction

[0036] Below in conjunction with accompanying drawing, further describe the present invention through embodiment, but do not limit the scope of the present invention in any way.

[0037] The UAV planning path is a feasible path formed by connecting the points passed by the UAV from the initial position to the target position through calculation in the pre-set three-dimensional space. The path is required to meet constraints, such as the shortest path and the least time spent . The essence of the path planning algorithm is to find an optimal path according to the target requirements among all the paths satisfying the constraints. Therefore, in the process of path planning algorithm simulation, the environment needs to be modeled first. The modeling method uses the grid graph method to divide the working environment of the UAV into a series of grids of the same size.

[0038] During the specific implementation of the present invention, the simulation environment adopts a Carte...

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Abstract

The invention discloses an unmanned aerial vehicle flight path planning method based on IB-ABC algorithm, and belongs to the technical field of air wireless sensor networks. The IB-ABC is an improvedbalanced bee colony algorithm and comprises an employed bee optimized path strategy, a following bee optimized path strategy and an investigation bee optimized path strategy; through improving an artificial bee colony ABC path planning algorithm, an employed bee strategy and a following bee strategy are improved on the basis of feedback information of an iterative process, and the local search capability of an optimized path is improved; and a new path balance local search and global search capability is generated by adopting a scout bee optimization path strategy; therefore, a short, safe andsmooth flight path of an unmanned aerial vehicle in the three-dimensional environment can be quickly generated.

Description

technical field [0001] The invention belongs to the technical field of wireless sensor networks in the air, and relates to a path planning method for an unmanned aerial vehicle in a three-dimensional environment, in particular to a flight path planning method for an unmanned aerial vehicle based on an improved IB-ABC algorithm. Background technique [0002] In recent years, wireless sensor networks have attracted extensive attention from academia and high-tech fields due to their high degree of subject integration and broad application prospects. The wireless sensor network can be divided into various types according to the different characteristics of its sensor nodes. Among them, the wireless sensor network in the air uses the micro-UAV as the sensor node with both perception ability and autonomous flight ability. Accurate information acquisition under a variety of complex environmental conditions has become a research hotspot in the computer field. [0003] In the wirele...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G01C21/20G06N3/00G06Q10/04
CPCG01C21/20G06N3/006G06Q10/047Y02T10/40
Inventor谭励王浩宇连晓峰徐天瀛
OwnerBEIJING TECHNOLOGY AND BUSINESS UNIVERSITY