多约束条件下某智能飞行器航迹快速规划

以某智能飞行器为研究对象,研究复杂环境下航迹快速规划。为校正系统结构限制所带来的定位误差,使得智能飞行器能按照预定的航迹完成任务,基于多约束条件最优化理论,采用遗传算法扩展而来的NSGA-Ⅱ(非支配排序遗传算法)算法进行航迹规划。结果表明,基于NSGA-Ⅱ,使用交叉行为和变异行为将初始解进一步筛选优化并最终得到最优解。较好地解决了传统遍历规划的时间复杂性问题,同时有效克服飞行器在转弯时受到结构和控制系统的限制而无法完成即时转弯的约束。

Rapid Path Planning of Intelligent Aircraft under Multiple Constraints

Taking intelligent aircraft as the research object,research on rapid trajectory planning in complex environments.In order to correct the positioning error caused by the limitation of the system structure,the intelligent aircraft can complete the task according to the predetermined trajectory.Based on the theory of multi-constraint optimization,this paper adopts NSGA-Ⅱ(Non-Dominated Sorting Genetic Algorithm)algorithm extended from genetic algorithm for trajectory planning.The results show that,based on NSGA-Ⅱ,the initial solution is further screened and optimized using crossover behavior and mutation behavior,and the optimal solution is finally obtained.It better solves the time complexity problem of traditional traversal planning,and effectively overcomes the constraints that the aircraft is restricted by the structure and control system when turning and cannot complete instant turns.