现代防御技术 ›› 2018, Vol. 46 ›› Issue (4): 21-26.DOI: 10.3969/j.issn.1009-086x.2018.04.004

• 导航、制导与控制 • 上一篇    下一篇

采用层次分解策略的多机协同航路规划

叶文, 赵建忠, 吕晓峰, 刘华文   

  1. 海军航空大学 兵器科学与技术系,山东 烟台 264001
  • 收稿日期:2017-05-13 修回日期:2017-12-13 出版日期:2018-08-30 发布日期:2020-11-25
  • 作者简介:叶文(1979-),男,安徽黄山人。副教授,博士,研究方向为无人飞行器任务规划、航空兵器。通信地址:264001 山东烟台海军航空工程大学309教研室 E-mail:yw97112@sohu.com

Multi-UAV Cooperation Path Planning Based on Decomposition Strategy and Niche Clonal Selection Algorithm

YE Wen, ZHAO Jian-zhong, LÜ Xiao-feng, LIU Hua-wen   

  1. NAAU,Department of Ordnance Science and Technology,Shandong Yantai 264001,China
  • Received:2017-05-13 Revised:2017-12-13 Online:2018-08-30 Published:2020-11-25

摘要: 针对多机同时到达的问题,采用层次分解的原则,应用小生境克隆选择算法可以为无人机生成满足要求的多条可选航路,同时引入协同变量和协同函数的概念,解决规划航路的时间协同问题。仿真结果表明,该方法能够有效地解决多机协同航路规划问题,很好地满足了多机协同航路规划的协同控制要求。

关键词: 多机协同, 航路规划, 层次分解策略, 小生境克隆选择算法, 协同变量, 协同函数

Abstract: A method combining decomposition strategy with niche clonal selection algorithm for multi-UAV cooperation path planning problem is put forward. While constraining the UAV to arrive at the target simultaneously, the decomposition strategy is proposed, and the niche clonal selection algorithm can search multiple feasible paths for each UAV. The application of the coordination variable and coordination function approach is applied to multi-UAV cooperation path planning problem. The simulation results show that the method can solve multi-UAV cooperation path planning problem effectively.

Key words: multi-UAV cooperation, path planning, decomposition strategy, niche clonal selection algorithm, coordination variable, coordination function

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