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针对复杂地形环境下的无人机三维航路规划问题,提出一种基于改进的扰动流体动态系统与灰狼优化理论的混合航路规划算法.构建改进的扰动流体动态系统数学模型,通过修正初始汇流得到扰动流场,流场流线即可看作规划航路,能有效避免驻点、局部陷阱等问题.通过模拟灰狼群体的等级制度和捕食策略,并引入个体记忆功能和优胜劣汰选择规则,对障碍物反应系数进行寻优.仿真结果表明,规划出的三维航路平滑、可飞,具有良好的避障特性.
Aiming at the problem of UAV route planning in complex terrain environment, a hybrid route planning algorithm based on improved perturbed fluid dynamic system and gray wolf optimization theory is proposed.An improved mathematical model of disturbed fluid dynamic system is constructed, which is obtained by correcting the initial convergence Disturbing the flow field, the flow field flow line can be regarded as planning route, can effectively avoid the stagnation, local traps and other issues.Through the simulation gray wolf colony hierarchy and predation strategy, and the introduction of individual memory function and the survival of the fittest selection rules, obstacles The reaction coefficients are optimized.The simulation results show that the planned three-dimensional route is smooth, flyable and has good obstacle avoidance characteristics.