Development Of Path Planning Algorithm And Ground Control Station Of MUAV

This thesis took the application of Mini Unmanned Aerial Vehicle (MUAV) in the field of tactical reconnaissance and the research of flight control system as the background. It studied the design and implementation of path planning methods and ground control station software. Based on the analysis of existing path planning methods, it proposed new methods. And by integrating existing technology of software engineering, it designed and developed the ground control station software.The main work and attribution of this thesis were as follows:(1) For the threaten environment which was composed by a number of radars with different detecting abilities, presented a method to calculate the instantaneous probability of Unmanned Aerial Vehicle (UAV) which was detected by at least one radar;(2) Improved 2 kinds of roadmap based methods and applied them in path planning issue of UAV which was in the radar threaten environment, and proposed a visual line based path optimization method which reduced the fuel cost of the path but almost didn't change the threat cost or increase the computing time (in this thesis, the fuel cost was replaced with the length of the path, the threaten cost was replaced with the integral of the UAV's instantaneous probability which was detected by at least one radar in the path);(3) Proposed an algorithm that combined Ant Colony Algorithm and Voronoi diagram and applied it in path planning issue of UAV which was in the radar threaten environment, and it reduced computing time of Ant Colony Algorithm but almost didn't change the performance of the path which was produced by Ant Colony Algorithm;(4) Designed and developed the ground control station software of MUAV, and implemented the functions of serial port communication, database accessing, instruments'graphical displaying, path planning and management, and data analysis.