应用改进差分进化算法的三维路径规划

张宗豪; 徐斌; 胡铮

doi:doi:10.3969/j.issn.1671-637x.2022.06.002

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

论文大纲

张宗豪徐斌胡铮

作者单位

上海工程技术大学机械与汽车工程学院, 上海 201000

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 timewhich results in unsatisfying effects of 3D path planning.Thereforea modified differential evolution algorithm based on Sine Cosine Algorithm (SCA) is designed.Firstlythe mutation strategy is improved based on the search mechanism of SCA as well as the populations center of gravityand the crossover strategy is improved by integrating the disturbance strategyso as to improve the search ability and convergence performance of the algorithm.Thena new scaling factor is designed based on the Logistic functionso as to resolve the contradiction between global and local search.Through the experiment of function optimizationit is verified that the modified algorithm has good search accuracy and convergence rate.Finallythe modified algorithm is applied to 3D path planning of UAV.Owing to the advantages of the modified algorithm in searchingthe surrounding spatial environment can be better distinguished in each generation of searchso that the path selection is more reasonable.The simulation results show thatcompared with that of the basic differential evolution algorithmthe 3D path of UAV generated by the modified algorithm is shorter.

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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.

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