飞行器三维航迹规划算法

X3,(,710072)[]B,B[];;B-[]V249.12[]AThree-DimensionalPathPlanningforAircraftFENGQi,ZHOUDe2yun(CollegeofElectronicCommunication,North2westernPolytechnicUniversity,Xi’an710072,China)Abstract:Thispaperpresentsmethodforaircraftflightpathplanninginathree2dimensional(32D)roughterrainbyusingimprovedgeneticalgorithm.TheflightpathisobtainedbyaB2splinecurvewhosecontrolvertexesareconsideredasthegenesofchromosomeviafloatingpointcoding.Boththedynamicconstraintandtheabilityeludingobstaclesofaircraftareconsideredenoughinthecomputationoffitnessfunction.Resultsofsimulationshowthemethodiseffective.Keywords:32Dflightpath;geneticalgorithm;b2splinecurve1,,30km,,,,(),,,,,,[1][2][3],,[4],,,,,,,,B,;,,2,,2.158244X:2004205225:(1964),,,,,:ö,,,,,(fine2turning),,,B(Xi,Yi,Zi)(i=1,,M,M),,,Xi,Yi,Zi(hmin+hclearhmax+hclear),hmaxhmin,hclear2.2,PCCPCM,PGCPGM:g1g2,g3,g2f(g2)f(g1),g3PGCg3=r(g2-g1)+g2;:PGM,2.3,()B,f=3i=1wifi,3i=1wi=1(1)wi,f1Bf2B,,hclearf3,BPi-1PiPi+1,Pi-1PiPi+1[3]f3B3B2B:P(t)=ni=1ViNi,k(t),Vi(I=0,1,,n),Ni,k(t)(i=0,1,,n)k(k-1)B,,tT:t0t1tn+kk,k(k-1),n+1(x0,y0,z0),(xn,yn,zn),B:X(t)=ni=0xiõNi,k(t)Y(t)=ni=0yiõNi,k(t)Z(t)=ni=0ziõNi,k(t)(2)BNi,k(t)(3)(4):Ni,1(t)=1Knot(i)tKnot(i+1)1Knot(i)tKnot(i+1)ANDt=n-k+20(3)Ni,k(t)=(t-Knot(i))õNi,k-1(t)Knot(i+k-1)-Knot(i)+(Knot(i+k)-t)õNi+1,k-1(t)Knot(i+k)-Knot(i+1)(4)Knot,:Knot(i)=0ikKnot(i)=i-k+1kinKnot(i)=n-k+2ni(5),BST,,4,,,682004,,,,,:(0),L,l=1(1)Pl(xl,yl),rlrl,,:0rminrlrmax(2)(x1,y1)rl:z=r2l-(x-xl)2+(y-yl)2(6)(3)P3(x3,y3)h3:h3=lj=1hj,hj=r2j-(x3-xj)2+(y3-yj)20P3OjP3|Oj(7)Ojj(4)(1)(3)L,1(8)(2)h(x,y)=Ni=1a2PR1iR2i1-Q2e-12(1-Q2)[(x-X1iR1i)2-2Q(x-X1i)(y-X2i)R1iR2i+(y-X2iR2i)2](8)TFöTA,(7),4.5gM=4,w1=w2=w3=1ö3,:PCC=0.25,PCM=0.08,PGC=0.7,PGM=0.151,PCC=0.25,PCM=0.08,M=4,(8)12,f(gbest)=249,27min;PGC=0.65,PGM=0.10,2,f(gbest)=46,21min5,:(1),,(2),,[][1]PatcherM,Hebert.Optimalaircrafttrajectoriesforradarexposureminimization.ProceedingsofAmericancontrolconference[C].2004,2365-2369.[2].TFöTA[J].,30(5):563-568.[3],.[J].,2002,22(2):4-7.[4]MenonPKA,KimEC.OptimalTrajectorySynthesisforTerrain2FollowingFlight[J].JournalofGontrol,andDynamics,1991,14(4):807-813.[5],.[M].:,1980.78244