系统工程与电子技术
Systems Engineering and Electronics
收稿日期：2022-06-17；修回日期：2022-11-15；
基金项目：江苏省自然科学基金青年基金（BK20200415）；航空科学基金（201957052001）；装备预研重点实验室基金（NBA20005）；
博士后科学基金面上项目（2020M681587）；江苏省博士后基金项目（2020Z112）资助课题
*通讯作者.
基于改进狼群算法的无人直升机航迹规划
王黎文
1
，邵书义
1
，
*
，吴庆宪
1
，韩增亮
1
（1. 南京航空航天大学自动化学院，江苏 南京 211106）
摘 要：针对无人直升机(unmanned autonomous helicopter, UAH)航迹规划中传统狼群算
法(wolf pack algorithm, WPA)收敛速度慢和易陷入局部最优的问题，提出了一种基于改进
WPA 的 UAH 三维航迹规划算法。首先对 UAH 飞行三维环境、约束条件及适应度函数进行
数学建模，接着通过自适应步长的方式对传统 WPA 中游走、召唤及围攻三种主要行为的步
长进行改进，同时，采用莱维飞行与变方向游走相结合的策略调整游走行为中搜索的方向及
范围，从而提高算法的全局寻优能力和收敛速度，最后给出了改进 WPA 在三维环境下航迹
规划的仿真结果。仿真结果表明，改进 WPA 收敛更快，规划出的航迹质量更优，验证了该
算法在 UAH 航迹规划中的有效性。
关键词：改进狼群算法；自适应步长；莱维飞行；变方向游走
中图分类号：TP 18; V 275.1 文献标志码：A
Path planning of unmanned autonomous helicopter based on improved
wolf pack algorithm
WANG Liwen
1
，SHAO Shuyi
1
，
*
，WU Qingxian
1
，HAN Zengliang
1
(1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
211106, China)
Abstract: For the problems of traditional wolf pack algorithm (WPA) in the flight path
planning for unmanned autonomous helicopters, including slower convergence speed and failing
easily into local optimum solution, a three-dimensional flight path planning algorithm for
unmanned autonomous helicopter (UAH) based on improved wolf pack algorithm is proposed.
Firstly, the three-dimensional environment, constraints and fitness function of UAH flight are
modeled; Then, the adaptive step-size method is used to improve the step size of the three main
steps of wandering behavior, summoning behavior and siege behavior in the traditional wolf pack
algorithm; At the same time, the strategy of combing levy flight and changing direction migration
are used for adjusting direction and scope of the search in walking behavior, so as to improve the
global optimization ability and convergence speed of the algorithm; Finally, the simulation results
show that the improved wolf pack algorithm has faster convergence and better track quality, which
verifies the effectiveness of the algorithm in the flight path planning of the unmanned autonomous
helicopter.
Keywords: improved wolf pack algorithm; adaptive step-size; levy flight; change direction
migration
0 引 言
由于无人直升机（unmanned autonomous
helicopter，UAH）具有垂直起降、空中悬停、
可朝任意方向飞行、起飞着陆场地小、体积小且
操作灵活等诸多优势，在侦查、打击、追踪、目
