Path Planning Research for Unmanned Air Vehicle Based on Improved Particle Swarm Algorithm
Guo Xiao-he · Journal of North University of China · 2013
The complex network theory was applied to the particle swarm algorithm and an improved particle swarm algorithm was proposed,enhancing algorithm's convergence performance by using adaptive inertia coefficient method automatically to adjust the inertia coefficient.Following Voronoi graph theory,feasible path network structure chart was used to express the distribution of known threat,Dijkstra algorithm was applied to roughly seek threat distribution to get rough shorest path,In this paper,according to rough shortest path,improved particle swarm algorithm and least squares method were used for optimizing the initial reference path.The Matlab simulation result demonstrates the algorithm effectiveness and UAV path planning rationality.