摘要
针对风力的附加质量效应对无人机速度、航向速率和飞行路径角速率的影响,建立了无人机路径规划模型并求解,补充了空气动力学对风扰环境下无人机运行轨迹的影响,使得模型更符合实际情况。为合理预估新模型下无人机飞行成本,采用改进的蜣螂算法进行求解;为避免算法收敛精度不足,加入自适应权重策略;为提高飞行成本计算的收敛速度,加入种群多样性参数。仿真实验表明,改进的蜣螂算法在CEC2017测试函数中性能提升最低为5%,且在风扰环境下的无人机规划中,相对于原算法总成本节省达7.52%。
According to the influence of the additional mass effect of wind on the speed,heading rate and angular rate of the flight path of the unmanned aerial vehicle(UAV),the path planning of the UAV was modeled and solved,and the influence of aerodynamics on the trajectory of the UAV in the wind environment was supplemented,which made the model more realistic.In order to reasonably estimate the flight cost of UAV under the new model,the improved dung beetle algorithm was used to solve the problem.An adaptive weighting strategy was added to avoid the lack of convergence accuracy of the algorithm,and population diversity parameters were added to improve the convergence speed of flight cost calculation.The simulation results show that the performance of the improved dung beetle algorithm is improved by at least 5%in the CEC2017 test function,and the total cost savings of the UAV in the wind disturbance environment is 7.52%compared with the original algorithm.
作者
谢谢
陈明皓
XIE Xie;CHEN Minghao(Key Laboratory of Manufacturing Industrial and Integrated Automation,Shenyang University,Shenyang 110044,China;School of Information Engineering,Shenyang University,Shenyang 110044,China)
出处
《沈阳大学学报(自然科学版)》
2025年第2期115-122,共8页
Journal of Shenyang University:Natural Science
基金
国家自然科学基金资助项目(71672117)。
关键词
物流工程
蜣螂算法
风扰环境
无人机
路径规划
logistics engineering
dung beetle algorithm
wind disturbance environment
UAV
path planning
