Research of Path Planning for Unmanned Aircraft Vehicle based on Artificial Immune Genetic Algorithm
BA Hai-tao · Fire Control and Command Control · 2007
This paper uses the immune genetic algorithm to establish a path planning model of UAV,considering before performing scout task and on performing task,under a kind of complex 3-D terrain environment.First,we construct the 3-D equivalent relief map.Secondly,we propose an improved and grouping search immune genetic algorithm to look for the best air route based on our relief map.It improves the efficiency of search.The algorithm uses the way of pretreatment solution space and immune memory trait to initialize solution set.Then,it searches air route point set which satisfies maneuver characteristic of UAV.Finally,it applies quasi-homogenous B-spline curve to connecting the air route points.The B-spline curves have the trait of continuity,end geometric characteristic,uniform curvature,and so on.So it makes air route safety and flyable.In the end,the simulation results show the algorithm is an effective path planning method.