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考虑到无人飞机在交通监控中存在突发的监测目标,需要动态规划无人飞机的巡航路径.首先,引入时间轴的概念,将动态无人飞机路径规划问题分两阶段解决,第一阶段为初始优化,第二阶段为动态时刻点实时优化,进而转化为静态问题.接着,建立了无人飞机路径多目标优化模型,优化目标为无人飞机广义巡航距离最短、无人飞机的使用数量最少.然后,提出了动态无人飞机可行路径插入法,设计了基于帕累托最优的多目标优化算法.最后,进行了案例分析和算法敏感性分析,分析结果表明,提出的模型和算法是可行、有效的.
Considering the unmanned aircraft in traffic monitoring in the presence of unexpected monitoring objectives, the need to dynamically plan the unmanned aircraft cruise path.First, the introduction of the concept of the time axis, the UAV path planning issues in two phases, the first phase As the initial optimization, the second phase is the real-time optimization of the dynamic time point, which translates into the static problem.Furthermore, a multi-objective optimization model of the unmanned aircraft path is established, and the optimization target is that the UAV has the shortest generalized cruising distance and the unmanned aircraft At the same time, a dynamic multi-objective optimization algorithm based on Pareto optimization is proposed.Finally, case analysis and algorithm sensitivity analysis are carried out. The results show that the proposed model and algorithm Is feasible and effective.