Uav Route Planning Method

The technology of path planning is used to enhance the survivability of the penetrating tactical aircraft in dense threat environment. It can construct a reference path with lowest danger for the UAV (unmanned aerial vehicle) by accounting for some aircraft performance characteristics, the mission goals, the threat information and the terrain information. This paper puts emphasis on the study of path planning algorithms and the analysis of UAV missions. The main contributions are summarized as follows:(1) The threat environment, mainly as the radar threat, is studied and the detection probability of the aircraft is analyzed. The detection probability is calculated based on the constant false alarm rate detector. This calculation method can solve the quantity problem of the detection probability. Then the detection probability of a distributed parallel detection system that consist of multiple distributed detectors is given.(2) The path planning is studied according to the attacking and the reconnaissance/surveillance mission task requirements. As there are not fixed path efficiency index existing for the reconnaissance/surveillance mission task requirements, this paper puts foreword an efficiency index according to the campaign effectiveness, which solve the quantity problem of the path efficiency with ease.(3) To plan the mission path with efficiency, the A algorithm is developed to deal with the attacking mission path. This kind of A algorithm can deals with the targets assignment problems also. The reconnaissance/surveillance mission paths are solved in two conditions, which are all solved by the Genetic Algorithm (GA). The Ant Algorithm (AA) is studied in this thesis also and put foreword to deal with the path planning problems of UAV. The Ant Algorithm is a newly developed method in recent years and it has some good characteristics in the static and the dynamic environments.(4) To the multi-UAV path planning problem, the studies includes several aspect, which are:1. The cooperative path planning and the threat-avoidance of multi-UAV;2. The cooperative flight and control of multi-UAV;3. The mission assignment between the multi-UAV.To the multi-UAV system, the main problem is the cooperative of multi-UAV. This includes the coordination of the arrival time, the attacking direction and the tasks assignment. In the path planning progress, all the positions, the moving directions and the speeds of different UAV's should be known. What is more, the conditions in the hostile region must be known in advance. This is a critical problem with great difficulties. So the methods used in the multi-UAV problems are not the same as the methods used in the single UAV problem. What is more, the methods used in the multi-UAV must consider the cooperative problem between the multi-UAV. This is the basic different between the two kinds of problems. This thesis uses two kinds of methods to solve the problem, which are the distributed method and the centralized method.To increase the campaign effectiveness of UAV, this thesis discusses the path planning of UAV and solve the path planning in two conditions: the attacking mission and the reconnaissance/surveillance mission. Some works have done to deal with the problems of mission planning, which considering the problems of dynamic environment and the multi-UAV mission. The works done in this paper build the foundation also for the mission planning researches in future.