Application of an Improved Genetic Algorithm in Fast Path Planning for UCAV
GU Chao-q · Fire Control and Command Control · 2015
Due to the complex constraints,more uncertain factors and critical real-time demand of path planning for UCAV,an approach of fast path planning based on Voronoi diagram and improved genetic algorithm is proposed,which makes use of the principle of hierarchical path planning. First the Voronoi diagram is utilized to generate the initial paths and calculate the weight of the paths by considering the constraints. Then the optimal path is searched by using the improved genetic algorithm.Multiprocessors parallel computing techniques are used to improve the traditional genetic algorithm and the optimal time is greatly reduced. Simulation results verify that path planning based on Voronoi diagram and IGA is more favorable in the real-time operation. It can improve the adaptability of dynamic battlefield and unexpected threats for UCAV.