基于多目标约束的无人机光顺路径生成全局优化方法

廖榆信,王伟,滕卫明,贺海晏,王战,王进

Multi-objective constraint-based smooth path generation for UAVs global optimization method

Yuxin LIAO,Wei WANG,Weiming TENG,Haiyan HE,Zhan WANG,Jin WANG

表 1 超平面的参考点坐标

Tab.1 Coordinates of reference points in hyperplane

编号 坐标 编号 坐标 编号 坐标 Pr1 (0.0,0.0,2.0) Pr6 (0.5,0.0,1.5) Pr11 (1.0,0.5,0.5) Pr2 (0.0,0.5,1.5) Pr7 (0.5,0.5,1.0) Pr12 (1.0,1.0,0.0) Pr3 (0.0,1.0,1.0) Pr8 (0.5,1.0,0.5) Pr13 (1.5,0.0,0.5) Pr4 (0.0,1.5,0.5) Pr9 (0.5,1.5,0.0) Pr14 (1.5,0.5,0.0) Pr5 (0.0,2.0,0.0) Pr10 (1.0,1.0,0.0) Pr15 (2.0,0.0,0.0)