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兵工学报 ›› 2023, Vol. 44 ›› Issue (S2): 52-60.doi: 10.12382/bgxb.2023.0937

所属专题: 群体协同与自主技术

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基于改进蝗虫优化算法考虑任务威胁的多无人机协同航迹规划

郭志明1,2,*(), 娄文忠1, 李涛2, 张梦宇2, 白子龙2, 乔虎3   

  1. 1 北京理工大学 机电学院, 北京 100081
    2 中国兵器科学研究院, 北京 100089
    3 西安工业大学 机电工程学院, 陕西 西安 710021
  • 收稿日期:2023-09-15 上线日期:2024-01-10
  • 通讯作者:
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Collaborative Route Planning of Multiple Unmanned Aerial Vehicles Considering Task Threats Based on Improved Grasshopper Optimization Algorithm

GUO Zhiming1,2,*(), LOU Wenzhong1, LI Tao2, ZHANG Mengyu2, BAI Zilong2, QIAO Hu3   

  1. 1 School of Mechatronical Engineering,Beijing Institute of Technology, Beijing 100081, China
    2 China Research and Development Academy of Machinery Equipment, Beijing 100089, China
    3 School of Mechatronic Engineering, Xi’an Technological University, Xi’an 710021, Shaanxi, China
  • Received:2023-09-15 Online:2024-01-10

摘要:

为使多无人机(UAV)在面临不同程度的任务威胁环境时能够高效的执行任务,研究并设计一种新型协同航迹规划算法,以综合代价为目标函数,利用改进的蝗虫优化算法对构建的航迹规划模型进行求解。分析传统蝗虫算法的原理以及不足,提出改进策略,即引入基于逻辑斯蒂函数的非线性递减策略;针对改进之后的算法进行仿真测试,并与其他算法进行对比,验证算法的应用效果。仿真结果显示,相对于其他算法,改进算法具有明显的优势,收敛速度更高,航迹代价更低,可为UAV作战效能提升提供支撑。

关键词: 多无人机协同, 航迹规划, 改进蝗虫算法, 任务威胁

Abstract:

To enable multiple unmanned aerial vehicles (UAVs)to efficiently execute tasks when facing varying degrees of mission threat environments, a collaborative route planning algorithm of UAVs based on improved grasshopper optimization algorithm is proposed. A route planning model is established by taking the comprehensive cost as an objective function. The grasshopper optimization algorithm is improved by introducing a nonlinear descent strategy based on the logistic function. The feasibility of the improved grasshopper optimization algorithm is verified through simulation experiment. The experimental results showed that the improved grasshopper optimization algorithm has faster convergence speed and global search ability, which can provide support for improving the combat effectiveness of unmanned aerial vehicles.

Key words: multi-UAV collaboration, route planning, improved grasshopper optimization algorithm, task threat

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