Optimal Path Planning for Autonomous Airship Based on Clonal Selection and Direct Collocation Algorithm

A novel algorithm, based on clonal selection and direct collocation theories, is introduced to solve the three-dimensional optimal path problem of airship. Firstly, the six-DOF (Degree of Freedom) nonlinear dynamic model for a special kind of airship is presented. Then, the model of novel algorithm is designed from clonal selection and direct collocation aspects respectively, and the dissipative energy function of airship is designed as performance index function. So the optimal control problem has been converted into the nonlinear programming problem which must subject to constraint conditions and performance index. Finally, nonlinear programming problem is solved by presented algorithm, and gets satisfied solutions. Simulation results also demonstrate the validity and feasibility of the presented novel algorithm for solving the optimal path problem of airship.