Research on Unmanned helicopter Path Panning Based on Improved Wolf Pack Algorithm

Abstract

Given the problem of unmanned helicopter (UH) path planning in complex mountain environment, an improved wolf pack algorithm has been proposed. Firstly, the mathematical model of three-dimensional environment is established and the track length, flight altitude and collision index are introduced into the fitness function. Then the traditional wolf pack algorithm is described, and the threat heuristic factor is introduced as the heuristic information to form part of the particle position update, which is used to guide the artificial wolf search and enhance the effectiveness and pertinence of particle search process. Then the adaptive step size is added to method to adjust global and local search capability of the algorithm. Finally, the smooth optimal path is fitted by B-spline interpolation. The simulation results proves that the improved algorithm can avoid falling into local optimization, shorten the search time and get the global optimal path faster comparing with the traditional wolf pack algorithm, which show the effectiveness of the improved algorithm