用于多无人机协同路径规划的改进黏菌蜂群算法
熊慧,葛邦鲁,刘近贞,王家兴
Improved slime mould bee colony algorithm for multi-UAVs cooperative path planning
Hui XIONG,Banglu GE,Jinzhen LIU,Jiaxing WANG
表 6
威胁源的参数
Tab.6
Parameter of threat source
m
环境
威胁
位置坐标
r
h
场景2
1
(800, 300)
180
200
2
(400, 200)
120
200
3
(300, 700)
220
200
4
(800, 850)
80
200
场景3
1
(400, 500)
60
200
2
(800, 300)
80
200
3
(400, 200)
100
200
4
(300, 700)
90
200
5
(800, 850)
70
200
6
(200, 400)
60
200
7
(800, 500)
50
200
8
(600, 800)
70
200
9
(900, 650)
50
200
10
(550, 450)
70
200