Research On UAV Path Planning Based On Improved Whale Optimization Algorithm

With the rapid development of artificial intelligence,embedded system and other science and technology in recent years,UAV technology is in an important period of rapid development.The research and application of unmanned UAV are in the ascendant all over the world,which puts forward higher requirements for the intelligent,systematic and modular UAV system.In essence,uav path planning is a kind of multi-constraint combinatorial optimization problem.The difficulty of this kind of problem lies in the difficulty in establishing mathematical model with low accuracy,many constraints involved,and the performance of optimization algorithm is difficult to balance,resulting in the poor track quality and poor followability of UAV.Therefore,in this paper,the UAV path planning problem is divided into three aspects: path model,cost function and optimization algorithm.The main research contents and results are as follows:Firstly,this paper studies the influence of path generation method on UAV path planning results.After the establishment of 3D digital map model for terrain area and threat area in UAV flight environment,this paper proposes a 3D adaptive step path generation method based on the method of equal step path generation in 2D plane.This method can automatically generate different schemes for the selection of flight path interval points according to different flight environments,which provides a theoretical basis for the determination of the number and position of interval points.Through MATLAB software simulation comparison and verification,the path generation method has high environmental fitness,high smoothness of the planned path,more close to the ideal path,and can improve the efficiency of path planning.Secondly,this paper studies all kinds of constraints and their cost function forms in path planning.In this paper,ideal path parameters and penalty operator are introduced into the cost function of existing path planning,and the cost function in normalized form is designed for all kinds of constraints,and the final model of path cost function is simplified.Not only can numerical calculation errors be avoided,but also the weight parameter adjustment process can be reduced,which canguarantee the safe flight of UAV while reducing the calculation burden of planning algorithm.Finally,this paper studies the basic theory of whale optimization algorithm,and verifies the feasibility of whale optimization algorithm to solve the UAV path planning problem through simulation experiments.And according to defects of whales optimization algorithm,combined with the chaos theory,reverse learning algorithm,levy and adaptive feedback probability random walk process parameters on the optimization algorithm was improved,the whale optimization algorithm is presented,through comparative analysis of the MATLAB software simulation to verify the improved whale optimization algorithm to deal with the problem of UAV path planning.