| 黄卫华* **,边琳**.基于模糊熵-云模型的四旋翼无人机多目标路径规划[J].高技术通讯(中文),2025,35(7):760~766 |
| 基于模糊熵-云模型的四旋翼无人机多目标路径规划 |
| Multi-objective optimization of path planning for quadrotor UAV based on fuzzy entropy-cloud model |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 07. 008 |
| 中文关键词: 四旋翼无人机;路径规划;多目标优化;模糊熵;云模型 |
| 英文关键词: quadrotor UAV, path planning, multi-objective optimization, fuzzy entropy, cloud model |
| 基金项目: |
| 作者 | 单位 | | 黄卫华* ** | (* 武汉城市学院机电工程学部 武汉 430081)
(** 武汉科技大学信息科学与工程学院 武汉 430081) | | 边琳** | |
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| 中文摘要: |
| 针对四旋翼无人机(unmanned aerial vehicle, UAV)多目标路径规划中不确定性信息的模糊性、随机性及权值分配问题,提出了一种基于模糊熵-云模型的多目标路径规划算法。 首先,选取路径长度、转角和及总危险度为优化指标,构建无人机的多目标路径规划模型;然后,采用模糊熵表示多目标优化模型的组合权值,并由云模型定义隶属函数描述各子目标的不确定性;最后,采用粒子群优化算法实现多目标函数的权值分配。 仿真结果表明,所设计的算法实现了四旋翼无人机低能耗、高效率及高安全性的多目标路径规划。 |
| 英文摘要: |
| Aiming at the fuzziness,randomness,and weight allocation issues of uncertain information in multi-objective optimization of path planning for quadrotor unmanned aerial vehicle (UAV),this paper presents a multi-objective algorithm based on fuzzy entropy and cloud model. Firstly,the path length,angle sum and total hazard of quadrotor UAV are selected as the optimal functions to construct the path planning model of UAV with multi objectives; secondly,the fuzzy entropy is defined to describe the combined weights of the multi-objective optimal mode,and the membership functions of fuzzy entropy are defined by the cloud models to deal with the uncertainty of each sub-objective; finally,the particle swarm algorithm is applied to find the optimal fitness allocation of the designed multi-objective function. The simulation results show that the designed algorithm achieves low energy consumption,high efficiency and high safety for the multi-objective path planning of quadrotor UAV. |
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