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 2 不同算法在3种场景中的优化性能对比

Tab.2 Performance comparison of different algorithms for optimization in three scenarios

场景 算法 $ {L}_{t,i} $/m $ {\varphi }_{L} $/% $ {N}_{t,i} $/s $ {\varphi }_{t} $/% $ {R}_{t,i} $ $ {\varphi }_{r} $/% 场景一 改进RRT* 164.9 — 37.83 48.43 259.08 71.68 改进A* 156.2 5.28 73.36 — 914.93 — NSGA-Ⅱ 154.6 6.25 35.76 51.25 108.25 88.17 NSGA-Ⅲ 149.7 9.22 37.03 49.52 101.85 88.87 场景二 改进RRT* 158.9 — 36.43 33.08 178.89 43.96 改进A* 157.5 0.88 54.44 — 319.23 — NSGA-Ⅱ 144.8 8.87 24.08 55.76 29.04 90.90 NSGA-Ⅲ 144.0 9.37 18.16 66.64 25.19 92.11 场景三 改进RRT* 166.42 — 37.36 50.07 262.96 55.55 改进A* 162.42 2.40 74.83 — 591.59 — NSGA-Ⅱ 153.91 7.52 27.59 63.13 74.97 87.33 NSGA-Ⅲ 152.80 8.18 24.24 67.61 70.20 88.13