基于改进蚁群算法的无人机低空突防三维航迹规划

摘要

The approach for establishing the models of terrain, threats and route cost evaluation in route planning for UAVs in low-altitude penetration was studied. The ant colony algorithm was introduced into the UAV route planning. Since stagnation may appear during searching in use of traditional ant colony algorithm, the yaw angle was introduced in this paper to improve the heuristic information. The prior search set was established to make the ant colony algorithm more rapid and effective in searching the optimum route. The simulation result proved the efficiency of the planning method.%探讨了无人机低空突防三维航迹规划中地形、威胁以及航迹代价评估等模型的建立方法.将蚁群算法引入无人机航迹规划,针对传统蚁群算法易出现停滞现象,引入偏航角对启发信息进行调整改进；建立优先搜索集,使蚁群算法更快速有效地搜索到最优航迹.仿真实验结果证明了该规划方法的效率.