Three-Dimensional Path Planning for UAV Based on Improved Snake Optimizer Algorithm
An unmannedaerial vehicle(UAV)path planning algorithm based on an improved snake optimizer al-gorithm is proposed for the UAV 3D path planning problem in complex flight environments.First,the path planning problem was transformed into an optimization problem by formulating a cost function according to certain constraints.Then,the path coordinates were taken as variables,and the total cost consisting of the weighted sum of four costs was taken as the objective function.Finally,the optimal path was obtained by the improved snake optimization algorithm to select the path adaptation.The simulation results show that the improved snake optimizer algorithm proposed in this paper reduces the number of operations and the randomness by limiting the search range in the spawning phase,which makes the algorithm update the path node process faster;the introduction of chaos optimization algorithm enables the search process to search faster toward the global optimum and speeds up the convergence speed.Compared with the basic snake optimizer algorithm and the improved particle swarm algorithm,this algorithm has obvious advantages in terms of iteration number,path length and path smoothing.
NETL
NSTL
万方数据
