UAV Track Planning Algorithm Based On Multi-stage Optimization

In recent years,unmanned aerial vehicle(UAV)technology has become more and more mature,and the application scenarios of UAV have gradually diversified,and it has received more and more attention in the fields of logistics,communication,rescue,military and other fields.The complex flight environment brings great challenges to the safety of UAV flight,making UAV path planning one of the research hotspots.In this paper,the algorithm research and design are carried out for the problems of large search space,complex constraints,and difficult path planning in the path planning of gliding UAVs,and the following work is carried out:(1)A mathematical model is established for rescue and reconnaissance-based application scenarios,and the UAV path planning is converted into a multi-objective optimization problem.A representative UAV mission environment is constructed,and the UAV flight model is abstracted according to the kinematic characteristics of the gliding UAV.(2)For the problem that the evolutionary algorithm is difficult to optimize a single path point in the UAV path planning task,conduct research and analysis,reconstruct the coding method,and use the method of establishing preference point search through crossover operations and improved mutation operators.,reducing the search space and strengthening the algorithm’s search in a narrow area,a UAV path optimization algorithm based on genetic algorithm is proposed.(3)Aiming at the constraint problem in UAV path planning,a multi-stage constraint processing evolutionary algorithm is proposed by adopting a multi-stage adaptive constraint processing mechanism.Through the adaptive constraint processing mechanism,the algorithm processes the different constraints of the UAV path planning in the 3D environment in stages.The adaptive reference point strategy is adopted to maintain the diversity of the population and improve the performance of the algorithm.Through simulation experiments and test analysis methods,the constraint characteristics of the UAV path planning problem in 3D environment are discussed,and compared with various algorithms and their variants.The experimental results show that the algorithm proposed in this paper can effectively solve the UAV trajectory planning problem,and the results provide a new idea for the application of evolutionary algorithms in the UAV trajectory planning problem.