The Simulation Study of PSO Based 3-D Vehicle Route Planning for Low Attitude Penetration
Tang Qiang, Wang Jianyuan, Zhu Zhi-qiang · Jisuanji fangzhen · 2004
A 3-D vehicle route planning method based on PSO (Particle Swarm Optimization) for low attitude penetration is proposed and simulated. Introducing the concept of SOMR (Surface of Minimum Risk) forms the search space. And a polynomial function with finite terms is used to approach the horizon projection of the 3-D route in the SOMR. So the original planning problem is simplified to search the best series of values in the coefficient space of the polynomial function. Particle swarm optimization is introduced to solving this optimization problem. Incorporating constrains into the algorithms, a desirable vehicle route can be generated and the efficiency can be greatly improved. Via the method mentioned above, the generated route has the function of terrain following, terrain avoidance and threat avoidance. Simulation results are provided to illustrate the idea.