The invention discloses a method of planning three dimensional
route of an unmanned plane by means of an improved artificial fish swarm
algorithm. The method of planning three dimensional
route of an unmanned plane by means of an improved artificial fish swarm
algorithm is used for carrying out static state planning of
route and real-time dynamic re-planning of route when an unmanned plane executes a
single task. The method of planning three dimensional route of an unmanned plane by means of an improved artificial fish swarm
algorithm includes the steps: constructing a digital map through a
landform model and a simplified
threat model, considering the influence of space division
granularity on the complexity of an optimizing
control algorithm, and realizing division of space according to a fence self-
adaptive algorithm; realizing static state
route planning by means of an improved artificial fish swarm algorithm; and considering the
time factor, constructing a
threat prediction model based on a
dynamic Bayesian network, predicting the unexpected
threat, combined with flight constraint of the unmanned plane, obtaining the re-planning starting point, and realizing global route dynamic re-planning by means of the improved artificial fish swarm algorithm. The method of planning three dimensional route of an unmanned plane by means of an improved artificial fish swarm algorithm has the advantages of reducing the complexity of a route optimizing
control algorithm, improving the
optimum route searching capability, and satisfying the practical
route planning demand.