Research On UAV Trajectory Planning

The UAV (Unmanned Aerial Vehicle) trajectory planning is to search the best flight trajectory to satisfy the UAV machine performance and war field environment under special restrict condition. The UAV trajectory planning is the key technology of UAV mission system and the technology guarantee that UAV can flight by itself.The main contributions are summarized as follows:1. The research on the trait of aviation figure map. It presented terrain simulation algorithm, threat mountain simulation algorithm, and equivalent terrain simulation algorithm. It also discussed the method of terrain pretreatment algorithm and insert value algorithm. Above all, it is the base of trajectory planning.2. The research on preflight planning algorithm based on Digital Terrain Elevation Data. In preflight planning phase, the optimal global can be found information by large-scale computers via synthesizing many kinds of on programming based on the algorithm of heuristic A* algorithm and genetic algorithm in the text. The method is adopted to plan the optimal global reference trajectory.3. The research on online flight trajectory planning based on the preflight planning. On base of the global optimal trajectory nodes, it chooses optimal control method to plan by level and dynamic programming method to plan by upright respectively. It set up the object function of online plan, and adopts the linearization horizontal athletics equations of UAV as the equation restrict. It uses the principles of minimum, and constructs Hamilton function to give the optimal trajectory. On the uprightness aspect, as of restricts has settled in terrain pretreatment, it chooses dynamic programming combined with nodes research method to plan on base of level plan. The research on real-time trajectory planning algorithm adopted to get more accurate real time trajectory.4. The research on online flight pop threats. It presented a way to avoid threatens. It ran up the terrain in threatens range, and reduced the layout interspaces, then searched the best local result. So it put terrain avoidance into effect.5. On the base of preflight and online planning algorithm, the author makes use of MATLAB language and has designed and implemented UAV trajectory planning algorithm simulation program.