一种无人机分层三维航迹规划方法

摘要

A new 3D route planning method based on hierarchical strategy is proposed to solve the problem of route planning for unmanned aerial vehicles when using SAS algorithm. This method includes two levels: coarsely granular SAS fast route planning and finely granular route optimization using genetic algorithm. SAS algorithm uses a long step to find the best route in the searching graphics. Improved genetic algorithm is used to optimize the route. A special variation operation is designed to smooth routes. Simulation results show that this method can plan smooth 3D routes satisfied the requests for terrain following and thread avoidance.%针对SAS算法在三维航迹规划问题应用中的不足,提出了一种基于分层策略的三维航迹规划方法.该方法分为两个层次:粗粒度的SAS快速航迹规划和细粒度的遗传算法优化.SAS算法以较大步长快速找到搜索图中的最优解,建立航迹通道.在航迹通道内利用改进的遗传算法对航迹进行优化.设计了一种定向变异算子用于航迹的平滑.仿真实验表明,该方法规划的三维航迹能满足地形跟随和规避威胁的要求,同时具有良好的平滑特性.