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

摘要/Abstract

摘要：

针对无人直升机(unmanned autonomous helicopter, UAH)航迹规划中传统狼群算法(wolf pack algorithm, WPA)收敛速度慢和易陷入局部最优的问题, 提出了一种基于改进WPA的UAH三维航迹规划算法。首先, 对UAH飞行三维环境、约束条件及适应度函数进行数学建模; 然后，通过自适应步长的方式对传统WPA中游走、召唤及围攻3种主要行为的步长进行改进。同时, 采用莱维飞行与变方向游走相结合的策略调整游走行为中的搜索方向及范围, 从而提高算法的全局寻优能力和收敛速度；最后，给出了改进WPA在三维环境下航迹规划的仿真结果。仿真结果表明, 改进WPA收敛速度更快, 规划出的航迹质量更优, 验证了该算法在UAH航迹规划中的有效性。

关键词: 改进狼群算法, 自适应步长, 莱维飞行, 变方向游走

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

中图分类号:

TP18
V275.1

王黎文, 邵书义, 吴庆宪, 韩增亮. 基于改进狼群算法的无人直升机航迹规划[J]. 系统工程与电子技术, 2023, 45(10): 3240-3248.

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.

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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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