【摘要】 对无人机协同任务规划中的航线规划与轨迹优化问题进行了研究.以攻击方无人机在雷达探测区域的总滞留时间为优化目标,建立了数学模型,提出了基于多旅行商问题MTSP的分层混合遗传算法,通过该算法产生初始航迹.在初始航迹的基础上,进一步做航线平滑和轨迹优化处理.最后通过实例,比较了初始解和最终解,验证了算法的有效性.更多还原

【Abstract】 The problem of route planning and trajectory optimization in UAV cooperative task planning is studied.Based on the multi-traveling salesman problem(MTSP),a hierarchical hybrid genetic algorithm is proposed to generate the initial flight trajectory by using the total residence time of the attacking unmanned aerial vehicle(UAV)in radar detection area as the optimization goal.The initial trajectory is generated by this algorithm,and the route smoothing and trajectory optimization are further done considering the UAV survival rate and trajectory rationality. Finally,the effectiveness of the algorithm is verified by comparing the initial solution and the final solution.更多还原