电光与控制, 2022, 29 (6): 6, 网络出版: 2022-08-01
应用改进差分进化算法的三维路径规划
Application of Modified Differential Evolution Algorithm in 3D Path Planning
差分进化算法 正弦余弦算法 种群重心 扰动策略 路径规划 differential evolution algorithm Sine Cosine Algorithm (SCA) populations center of gravity disturbance strategy path planning
摘要
基本差分进化算法存在搜索精度不够和提前收敛的问题, 致使三维路径规划效果不佳, 因此设计了一种基于正弦余弦算法的改进差分进化算法。首先, 基于正弦余弦算法的搜索机制和种群重心改进变异策略, 融入扰动策略改进交叉策略, 提高了算法的搜索能力和收敛性能; 接着, 基于Logistic函数设计一种新的缩放因子, 以平衡算法在全局开发和局部搜索中存在的矛盾。通过函数优化实验验证了改进算法具有良好的搜索精度和收敛速度。最后, 应用改进算法研究无人机三维路径规划问题, 利用改进算法搜索的优势, 在每代搜索中能更好地对自身周围空间环境进行判别, 使路径选择更加合理。仿真结果表明, 与基本差分进化算法相比, 改进算法生成的无人机三维路径更短。
Abstract
The basic Differential Evolution (DE) algorithm has the problems of insufficient search accuracy and convergence ahead of timewhich results in unsatisfying effects of 3D path planning.Thereforea modified differential evolution algorithm based on Sine Cosine Algorithm (SCA) is designed.Firstlythe mutation strategy is improved based on the search mechanism of SCA as well as the populations center of gravityand the crossover strategy is improved by integrating the disturbance strategyso as to improve the search ability and convergence performance of the algorithm.Thena new scaling factor is designed based on the Logistic functionso as to resolve the contradiction between global and local search.Through the experiment of function optimizationit is verified that the modified algorithm has good search accuracy and convergence rate.Finallythe modified algorithm is applied to 3D path planning of UAV.Owing to the advantages of the modified algorithm in searchingthe surrounding spatial environment can be better distinguished in each generation of searchso that the path selection is more reasonable.The simulation results show thatcompared with that of the basic differential evolution algorithmthe 3D path of UAV generated by the modified algorithm is shorter.
张宗豪, 徐斌, 胡铮. 应用改进差分进化算法的三维路径规划[J]. 电光与控制, 2022, 29(6): 6. ZHANG Zonghao, XU Bin, HU Zheng. Application of Modified Differential Evolution Algorithm in 3D Path Planning[J]. Electronics Optics & Control, 2022, 29(6): 6.