基于改进狼群算法的无人直升机航迹规划

doi:10.12305/j.issn.1001-506X.2023.10.28

Abstract

Abstract:

For the problems of traditional wolf pack algorithm (WPA) in the flight path planning for unmanned autonomous helicopters (UAH), including slower convergence speed and easy failing into local optimum solution, a three-dimensional flight path planning algorithm for UAH based on improved WPA is proposed. Firstly, the three-dimensional environment, constraints and fitness function of UAH flight are modeled. Secondly, the adaptive step-size method is used to improve the step size of the three main steps of wandering behavior, summoning behavior and siege behavior in the traditional WPA. At the same time, the strategy of combing Levy flight and changing direction migration are used for adjusting direction and scope of the search in walking behavior, so as to improve the global optimization ability and convergence speed of the algorithm. Finally, the simulation results show that the improved WPA has faster convergence and better track quality, which verifies the effectiveness of the proposed algorithm in the UAH flight path planning.

Key words: improved wolf pack algorithm (WPA), adaptive step-size, Levy flight, changing direction migration

CLC Number:

TP18
V275.1

Liwen WANG, Shuyi SHAO, Qingxian WU, Zengliang HAN. Path planning of unmanned autonomous helicopter based on improved wolf pack algorithm[J]. Systems Engineering and Electronics, 2023, 45(10): 3240-3248.

Figures/Tables 13

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References 30

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参数	含义	取值
N	狼群数量	50
α	探狼比例因子	4
C	步长因子	20
T_max	最大游走次数	20
ω	距离判定因子	50
β	狼群更新比例因子	6
h	游走方向数	20
K_max	最大迭代次数	50

算法	路径长度/km	运行用时/s
传统WPA	123.10	35.64
改进WPA	122.90	20.23
传统PSO	123.50	10.04
传统GA	130.10	11.23

算法	路径长度/km	运行用时/s
传统WPA	130.59	45.39
改进WPA	124.72	25.16
传统PSO	130.80	16.26
传统GA	169.70	22.06

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Path planning of unmanned autonomous helicopter based on improved wolf pack algorithm

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