Route Planning Based on Particle Swarm Optimization with Threat Heuristic
Sheng Shou-zhao · Electronics Optics & Control · 2011
In order to solve the problem of UAV's route planning under the environment with complex terrain and threats,an improved Particle Swarm Optimization(PSO) was proposed,in which the threat heuristic mechanism was integrated.The new algorithm made full use of the known threat information in mission area and took it as the threat heuristic item for forming the particles' velocity updating formula.The threat heuristic information could enhance the guiding movement of particles in mission area,enrich search behavior of PSO and improve the planning efficiency.Surface of minimum risk was used for reducing the dimension of particles,and online route planning was adopted to deal with the unexpected threats.The simulation results showed that the proposed method can effectively obtain the optimum route for the UAV with less planning time than standard PSO,and satisfy the real-time requirement of online route replanning.