基于智能优化与RRT算法的无人机任务规划方法研究.doc

中图分类号： 论文编号： 学科分类号：0801 博士学位论文 研究生姓名 学科、专业 研究方向 指导教师 教授 研究生院 学院 二О年月The Graduate School College of Automation Engineering Research on UAV Mission Planning Methods based on Intelligent Optimization and RRT Algorithm A Thesis in Control Theory and Control Engineering by Advised by Prof. Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy October, 2012承诺书 本人声明所呈交的博士学位论文是本人在导师指导下进行的研究工作及取得的研究成果。除了文中特别加以标注和致谢的地方外，论文中不包含其他人已经发表或撰写过的研究成果，也不包含为获得南京航空航天大学或其他教育机构的学位或证书而使用过的材料。 本人授权南京航空航天大学可以将学位论文的全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或扫描等复制手段保存、汇编学位论文。 （保密的学位论文在解密后适用本承诺书） 日 期： 摘 要 关键词：Abstract The tendency of UAV system is intelligent and autonomous. Decision and planning ability occupies an important position in future UAV system, is one of the key technologies in realize the UAV’s autonomous control. Mission planning is a procedure which obtain a sequence of tasks, and how to carry out these task, that make UAV have the best survival probability and overall effectiveness. The UAV route planning and task allocation problem are studied in this paper. For the problem of UAV route planning in three-dimensional and static threat environment, a multiple heuristic ant colony algorithm is proposed. In the algorithm,the distance and theat distribution between the current UAV posization and the candidate one, as well as the candidate posization and target one, are designed as the multiple heuristic information in the state transition of ants to guide their searth behaviors. The converage of multiple heuristic ant colony algorithm is proved. Experimental results show that this algorithm can effectively shorten the route planning time, improve planning accuracy, achiveing the optimal path. At the same time, an artificial potential ant colony optimization algorithm(APACO) is proposed, which combines ant colony optimization algorithm with ar