为解决复杂环境下双机林火救援路径规划问题,提出用人工免疫算法规划三维飞行航迹.借鉴人工免疫算法规划机器人路径的方法,通过考虑飞机飞行特性和双机路径规划的要求,为双机异地出发同时到达规划出三维飞行路线,并对算法的主要影响因素进行了分析和估计,获得规划航迹的最优参数,用于设计安全高效的飞行航迹.研究结果表明,该方法能规划出复杂环境下双机飞行航迹,利用参数优化后的人工免疫算法不但能快速有效地规划三维航迹,而且丰富了航迹规划方法研究.%To solve the problem of dual aircrafts path planning for forest fire rescue in complex environment, artificial immune algorithm was proposed for three dimensional flight path planning. Referring to the method of using artificial immune algorithm to plan robot path,three-dimensional flight paths for dual aircrafts were designed by considering the special characteristics of plan and the requirements of dual aircraft path planning in the consideration of taking off at different sites and arrival at desition at the same time,and main factors of the algorithm were analyzed and estimated for finding the optimal parameters of planning track for designing safe and efficient flight path. Results show that the method is capable of planning a dual aricrafts flight path in complex environment. Artificial immune algorithm with optimal parameter will be able to quickly and efficiently planning three-dimensional tracks and enrich the route planning method.
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