基于改进鱼群算法的无人机智能突防
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摘要
先用风险概率图描述无人机突防面临的防空威胁环境,将无人机突防问题,建模为使无人机损失风险最小的最优制导指令设计问题,设计了表征任务紧急度和损毁风险的控制参数。为快速求解该控制模型,进一步改进了鱼群算法,使该算法具有自适应步长调节机制,克服了算法收敛速度方面的不足。仿真与对比分析结果表明,所提方法能根据任务紧急度和损毁风险的重要程度,使无人机以较小损失代价实现突防。
With the risk probability graph used to describe the air defense threat environment faced by UAV penetration, the UAV penetration problem is modeled as the optimal guidance instruction design problem, which minimizes the loss risk of UAV, and the control parameters of mission urgency and damage risk are designed. In order to solve the control model quickly, the fish swarm algorithm is further improved, so that the algorithm has adaptive step-size adjustment mechanism, and overcomes the shortcomings of the convergence speed. The results of simulation and comparative analysis show that the proposed method can make the UAV achieve penetration at a lower cost based on the urgency of mission and the importance of damage risk.
With the risk probability graph used to describe the air defense threat environment faced by UAV penetration, the UAV penetration problem is modeled as the optimal guidance instruction design problem, which minimizes the loss risk of UAV, and the control parameters of mission urgency and damage risk are designed. In order to solve the control model quickly, the fish swarm algorithm is further improved, so that the algorithm has adaptive step-size adjustment mechanism, and overcomes the shortcomings of the convergence speed. The results of simulation and comparative analysis show that the proposed method can make the UAV achieve penetration at a lower cost based on the urgency of mission and the importance of damage risk.
引文
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[3]Ma G,Duan H,Liu S.Improved Ant Colony Algorithm for Global OptimalTrajectory Planning of UAV under Complex Environment[J].International Journal of Computer Science&Applications,2007,4(3):57~68.
[4]Howlett J K,McLain T W,Goodrich M A.Learning Real-Time A*Path Plannerfor Unmanned Air Vehicle Target Sensing[J].Journal of Aerospace Computing,Information,and Communication,2006,3(3):108~122.
[5]唐上钦,黄长强,胡杰,等.基于威胁等效和改进PSO算法的UCAV实时航路规划方法[J].系统工程与电子技术,2010,32(8):1076-1710.Tang S Q,Huang C Q,Hu J,et al.UCAV real-time route planning method based on threat equivalence and improved PSO algorithm[J].System Engineering and Electronic Technology,2010,32(8):1076-1710.
[6]莫松,黄俊,郑征,等.基于改进快速扩展随机树方法的隐身无人机突防航迹规划[J].控制理论与应用,2014,31(3):375-385.Mo S,Huang J,Zheng Z,et al.Based on the improved fast expansion random tree method stealth UAV penetration trajectory planning[J].Control Theory And Application,2014,31(3):375-385.
[7]Zengin U,Dogan A.Cooperative target pursuit by multiple UAVs in an adversarial environment[J].Robotics and Autonomous Systems,2011,59:1049-1059.
[8]K.Belghith,F.Kabanza,L.Hartman,R.Nkambou.Anytime dynamic path-planning with flexible probabilistic roadmaps[C].In Proceedings of the 2006 IEEE International conference on Robotics and Automation,2006:2372-2377.
[9]V.Boor,M.H.Overmars,A.Frank,A.F.Van der Stappen.The Gaussian sampling strategy for probabilistic roadmap planners[C]..In Proceedings of the 1999 IEEE International conference on Robotics and Automation,2009:1018-1023.
[10]N.M.Amato,O.B.Bayazit,L.K.Dale,C.Jones.An obstacle-based PRM for 3D workspaces[C].In Proceedings of the 3rd Workshop on the Algorithmic Foundations of Robotics Robotics,2010:155-168.
[11]J.Polden,Z.X.Pan,N.Larkin,S.Van Duin.Path planning with a lazy significan[C],Edge Algorithm.International Journal of Advanced Robotic Systems,2013:1-8
[12]Beard R,Kingston D,Quigley M.Autonomous Vehicle Technologies for Small Fixed-Wing UAVs[J].Journal of Aerospace Computing,Information,and Communication,2005,2(3):92-108.
[13]Wise R A,Rysdyk R T.UAV Coordination for Autonomous Target Tracking[C].Proceedings of the AIAA Guidance,Navigation,and Control Conference and Exhibit.Keystone,Colorado:AIAA,2006:1-22.
[14]李晓磊.一种新型的智能优化方法-人工鱼群算法[D].杭州:浙江大学,2003.Li X L.A new intelligent optimization method-artificial fish swarm algorithm[D].Hangzhou:Zhejiang University,2003