Path planning method for maritime drones based on NSGA II algorithm
Xiang Li · 2024
In this paper, based on graph theory and multi-objective optimization theory, the aircraft trajectory planning problem is studied. Firstly, based on the state model of the aircraft, the possible forms of the trajectory line are analyzed, and the 3D Dubins curve smoothing strategy is proposed. Through geometric derivation, a recursive expression for the length of the trajectory line is established, and then the calculation method of the trajectory length based on the 3D Dubins curve is given, and a mathematical model with the objective of minimizing the trajectory length and the number of corrections is established. After that, the above model is solved based on NSGAII algorithm, and the simulation results show that the method of this paper can quickly search the optimal path for maritime drones.