基于GPSSA算法的复杂地形多无人机航迹规划
Multi-UAV trajectory planning for complex terrain based on GPSSA algorithm
闫少强 1杨萍 1刘卫东 1李新其 1雷剑 1赵超跃1
作者信息
- 1. 火箭军工程大学基础部,西安 710025
- 折叠
摘要
针对多无人机协同航迹规划求解时间要求高、收敛难等问题,提出了一种基于博弈夺食机制和自毁机制的改进麻雀搜索算法(GPSSA)的多无人机协同航迹规划方法.利用分层规划思想分别建立单无人机航迹规划模型和多无人机协同航迹规划模型,将其转化为优化问题.提出博弈夺食机制和自毁机制用以改进麻雀算法,防止其快速丢失种群多样性,增强原算法逃脱局部极值吸引的能力,使得算法搜索方式更加灵活.利用改进麻雀算法对模型进行求解,仿真结果表明,GPSSA算法能够快速完成满足约束的航迹规划,且具有更好的收敛速度、寻优精度和算法鲁棒性.
Abstract
A multi-UAV cooperative path planning approach based on the self-destruction mechanism and game predatory sparrow search algorithm(GPSSA)is suggested to address the issues of high time requirement and problematic convergence.Firstly,a single UAV path planning model and a multi-UAV cooperative path planning model are established respectively by using the hierarchical planning idea,which is transformed into optimization problems.Then,the game predatory mechanism and self-destruction mechanism is proposed to improve the sparrow algorithm,prevent it from rapidly losing the diversity of the population,enhance the ability of the original algorithm to escape the attraction of local optimum,and make the search mode of the algorithm more flexible.Finally,the improved sparrow algorithm is used to solve the model.The outcomes of the simulation demonstrate how fast and accurately the GPSSA method can plan a path that satisfies the requirements,while also having superior algorithm robustness,convergence speed,and optimization accuracy.
关键词
多无人机协同航迹规划/麻雀搜索算法/博弈夺食机制/自毁机制Key words
multi-UAV cooperative path planning/sparrow search algorithm/game predatory mechanism/self destruction mechanism引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
维普
万方数据