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吴玉文,牛智越,韩倩倩. 基于启发式搜索算法的无人机航迹快速规划[J]. 科学技术与工程, 2020, 20(20): 8394-8399.
WU Yu-wen,NIU Zhi-yue,HAN Qian-qian.Fast Path Planning of Unmanned Aerial Vehicles Based on Heuristic Search Algorithm[J].Science Technology and Engineering,2020,20(20):8394-8399.
基于启发式搜索算法的无人机航迹快速规划
Fast Path Planning of Unmanned Aerial Vehicles Based on Heuristic Search Algorithm
投稿时间:2020-01-13  修订日期:2020-02-28
DOI:
中文关键词:  航迹规划  定位误差  深度优先搜索  回溯算法
英文关键词:path planning  positioning error  depth-first search  backtracking algorithm
基金项目:国家自然科学基金(71771028)第一作者:吴玉文(1983—),女,汉族,山东,博士,副教授。研究方向:优化理论与方法。E-mail:wyw_324@163.com。 (School of Information, Beijing Wuzi University, Beijing, 101149, China)
        
作者单位
吴玉文 北京物资学院 信息学院
牛智越 北京物资学院 信息学院
韩倩倩 北京物资学院 信息学院
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中文摘要:
      基于无人机导航系统的自身特点,无人机在导航过程中会出现无法精确定位的情况,从而产生定位误差。如果不能及时校正随时间累积的定位误差,会使无人机无法到达预定目的地,从而导致飞行任务失败。为避免这种情况的发生,本文研究了考虑定位误差的无人机航迹快速规划问题。以航迹距离最短为目标,考虑定位误差校正约束与航迹约束,建立了混合整数规划模型。根据深度优先搜索算法与回溯算法的特点,设计了启发式深度优先搜索+回溯算法来求解问题,并在此算法基础上加入模拟退火机制对解的质量进行优化。以某飞行区域的数据为例进行仿真实验,结果表明启发式深度优先搜索+回溯算法可以快速有效地求解考虑定位误差的无人机航迹规划问题。
英文摘要:
      Based on the characteristics of the unmanned aerial vehicle (UAV) navigation system, the UAV cannot locate accurately in the navigation process, which results in positioning errors. If the accumulated positioning error over time cannot be corrected in time, the UAV cannot reach the intended destination, which will lead to the failure of the flight mission. In order to avoid this situation, the problem of fast path planning of UAV considering the positioning error was studied in this paper. A mixed integer programming model was established, which took the shortest path distance as the goal and considered the correction constraint of the positioning error and the path constraint. According to the characteristics of depth-first search (DFS) algorithm and backtracking algorithm, the heuristic DFS+backtracking algorithm was designed to solve the problem, and based on the algorithm, the simulated annealing mechanism was added to optimize the quality of the solution. Taking the data of a certain flight area as an example, the simulation results show that the heuristic DFS+backtracking algorithm can solve the problem of the UAV path planning considering the positioning error quickly and effectively.
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