Unmanned Aerial Vehicle Path Planning Based on Hierarchical Thinking
Qin Jun-bo · 2013
In the research on route planning of unmanned aerial vechicle,the basic algorithm may always have problelms such as falling in local optimum,slow convergence speed leading to low efficiency.In this paper,the hierarchical thinking was considered in unmanned aerial vehicle route planning.Firstly,the planning environment was described with link graph,and Dijkstra algorithm was used to find the initial optimal route;then on the findings of other researchers,an improved genetic algorithm(CGASA) was advocated;at last,considering the selection costs of the motor performance of the aircraft,threats,attacks entry angle and so on,the improved genetic algorithm was used to adjust the waypoint location to come to meet the performance requirements of the path.