考虑安全飞行通道约束的无人机飞行轨迹多目标优化策略

黄宇昊, 韩超, 赵明辉, 杜乾坤, 王石刚

Multi-Objective Optimization Strategy of Trajectory Planning for Unmanned Aerial Vehicles Considering Constraints of Safe Flight Corridors

HUANG Yuhao, HAN Chao, ZHAO Minghui, DU Qiankun, WANG Shigang

表3 轨迹规划算法性能对比

Tab.3 Comparison of trajectory planning algorithms

地图类型 本文算法 GTOP算法 Js/(m2·s-5) o -/m tw/s lw/m Js/(m2·s-5) o -/m tw/s lw/m 随机地图 69.106 1.063 21.514 23.690 108.871 1.011 29.714 23.714 走廊地图 368.889 0.775 76.659 69.231 624.186 0.738 86.244 69.432 矿井地图 309.090 2.157 59.893 56.435 337.129 2.139 70.404 56.948