基于进化算法的多无人机协同航路规划

摘要

以突防航路时域协同指数、空域协同指数、突防时长指数和受威胁指数为规划目标，以最小直线航路段长度、可飞空域、续航能力和进入任务航路方向为约束，构建了多无人机协同突防航路规划模型。结合模型特点，利用合作型协同进化遗传算法对该模型进行求解。%Aiming at maximizing penetration path time synergy index and penetration path airspace synergy index, minimizing penetration time length index and intimidate index, restricted by the minimum length of straight path, flyable space, endurance and intro-mission route direction, the penetration path planning model of Multiple Unmanned Serial Vehicle (Multi-UAV)is constructed. Combining its characteristic, the model is solved by use of Cooperative Co-evolutionary Genetic Algorithms(CCGA).