基于自适应组合式差分进化算法的无人机山地环境航迹规划
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1.武警工程大学研究生大队;2.武警工程大学信息工程学院;3.火箭军工程大学核工程学院

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V279

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国家自然科学基金(61179005);某部“先导·汇智”项目(第21项);2025年校级基础前沿创新项目(WJ202513)


Adaptive Combined Differential Evolution for UAV Path Planning in Mountainous Terrain
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1.Postgraduate Brigade, Engineering University of PAP;2.College of Information Engineering, Engineering University of PAP;3.College of Nuclear Engineering, Rocket Force University of Engineering

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    摘要:

    针对山地灾害救援中无人机航迹规划面临的地形复杂、威胁多样及算法易陷入局部最优问题,提出一种基于自适应组合式差分进化(ACDE)算法的无人机山地环境航迹规划方法。构建包含禁飞区域的山地环境模型,设计综合加权代价函数,将航迹规划转化为多约束优化问题;在传统差分进化算法的基础上,首先,设计了快速扩展随机树策略,用于提升初始解的空间覆盖率;其次,引入轻量化Actor-Critic强化学习框架构建参数自适应机制,解决传统种群进化参数静态易陷入局部最优的不足,然后,设计了基于种群分层的动态混合变异机制,平衡算法的全局搜索与局部开发能力。仿真结果表明,在复杂山地环境下该算法可以得到长度最短且代价更低的安全避障航迹。

    Abstract:

    To address the challenges of complex terrain, diverse threats, and premature convergence in UAV path planning for mountain disaster rescue, a path planning method based on Adaptive Combined Differential Evolution (ACDE) is proposed. A mountainous environment model incorporating no-fly zones is established, and a comprehensive weighted cost function is formulated to transform the path planning problem into a constrained optimization problem. Three targeted improvements are introduced into the conventional differential evolution framework. First, a rapidly-exploring random tree initialization strategy is employed to enhance the spatial coverage of the initial population. Second, a lightweight Actor-Critic reinforcement learning framework is introduced to construct an adaptive parameter mechanism, by which the scaling factor and crossover probability are dynamically adjusted according to the population state. Third, a dynamic hybrid mutation mechanism based on population stratification is developed to balance global exploration and local exploitation. The effectiveness of the proposed algorithm is demonstrated by simulation results, and safe obstacle-avoidance paths with shorter length and lower cost are obtained under complex mountainous conditions.

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刘伟,常瑞花,沈晓卫,等. 基于自适应组合式差分进化算法的无人机山地环境航迹规划[J]. 科学技术与工程, , ():

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  • 收稿日期:2026-06-05
  • 最后修改日期:2026-09-22
  • 录用日期:2026-09-23
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