导航

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (S2): 724286-724286.doi: 10.7527/S1000-6893.2020.24286

Previous Articles     Next Articles

Path planning of UAVs based on improved whale optimization algorithm

WU Kun1,2, TAN Shaochang1   

  1. 1. Flying College, Beihang University, Beijing 100083, China;
    2. Beijing Advanced Discipline Center for Unmanned Aircraft System, Beihang University, Beijing 100083, China
  • Received:2020-05-26 Revised:2020-06-03 Published:2020-06-18
  • Supported by:
    Aeronautical Science Foundation of China (20185851021)

Abstract: A path planning method for Unmanned Aerial Vehicles (UAVs) in complex terrain environment is proposed based on the Improved Whale Optimization Algorithm (IWOA). First, according to information of the starting point and target point, the two-dimensional path planning problem is transformed into the optimization problem in the D-dimensional space by the rotating coordinate system. Then, a novel hybrid algorithm called IWOA is proposed by combining the hierarchy of the Gray Wolf Optimization algorithm (GWO) and the greedy strategy of the Differential Evolution algorithm (DE) into the Whale Optimization Algorithm (WOA). While ensuring the convergence speed, the IWOA efficiently improves the exploration and exploitation abilities. Finally, the improved algorithm is applied to the path planning of UAVs. The simulation results show that the IWOA can effectively obtain a cost optimal and effective path result, with better performance than the traditional optimization algorithm.

Key words: path planning, UAVs, whale optimization algorithm, hierarchy, greedy strategy

CLC Number: