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首页> 外文期刊>International Journal of Robotics & Automation >REAL-TIME STEALTH CORRIDOR PATH PLANNING FOR FLEETS OF UNMANNED AERIAL VEHICLES IN LOW-ALTITUDE PENETRATION
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REAL-TIME STEALTH CORRIDOR PATH PLANNING FOR FLEETS OF UNMANNED AERIAL VEHICLES IN LOW-ALTITUDE PENETRATION

机译：低空侵彻无人飞行器机翼的实时隐身步道路径规划

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摘要

An improved niched genetic algorithm (NGA) is presented for stealth corridor path real-time planning for heterogeneous unmanned aerial vehicles (UAVs) in three-dimensional (3D) dynamic environments. Firstly, the path planning problem is formulated. 3D corridor paths are introduced to meet the kinematic constraints of a UAVs fleet. Secondly, NGA is improved by merging the neighbourhood field operator and the rollback operator. In addition, the crowding strategy is employed to generate K coverage paths in the searching space. To balance converging rate and optimality, K near-optimal paths are used as the final solutions. Simulation results demonstrate that the proposed algorithm converges more rapidly in terms of time and high-quality flight corridors for UAVs fleet can be obtained in real time.
机译：提出了一种改进的遗传算法（NGA），用于三维（3D）动态环境中的异构无人机的隐身走廊路径实时规划。首先，提出了路径规划问题。引入了3D走廊路径以满足无人机机群的运动学限制。其次，通过合并邻域运算符和回滚运算符来改进NGA。另外，采用拥挤策略在搜索空间中生成K条覆盖路径。为了平衡收敛速度和最优性，将K个最佳路径用作最终解决方案。仿真结果表明，该算法在时间上收敛更快，可以实时获得无人机机群的高质量飞行通道。

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