Path Planning And Algorithm Realization Of Autonomous Flight For Small Scale Unmanned Helicopter

Path planning is one of the most important research areas of autonomous flight for small scale unmanned helicopter. Traditional path planning is based on fire threats. Taking into account the real flight environment of civil aviation, the path planning based on building obstacle has more widen applicational significance.A three-layer hierarchical path planning structure was proposed in this dissertation. Path planning algorithm was designed for each layer in the flight environment based on building obstacles. The correctness of these algorithms has been proved in MATLAB simulation, and the whole flight process was simulated in VRML-based 3D environment. The main contents and results of the dissertation are as follows:1)The three-layer hierarchical path planning structure was designed, and the whole path planning for small scale unmanned helicopter can be broke down into 3 layers.2)A geometrical computation based path planning algorithm of obstacle avoidance was implemented in the bottom layer.3)A building based voronoi diagram was built, then the shortest path was developed through Dijkstra algorithm for path planning in the second layer.4)The path planning algorithm was improved for the shortest path proposed in 3).5)based on the second layer pathalgorithm, the multi-target path planning was optimized by genetic algorithm in the top layer.6)The correctness of each layer's path planning algorithm in three-layer hierarchical path planning structure has been proved by MATLAB simulation, and the whole flight process was simulated in VRML-based 3D environment.The three-layer hierarchical path planning structure proposed in this dissertation is significant for modeling of path planning. The realization of three layer's path planning algorithm offers an effective way to solve path planning problem in the flight environment based on building obstacles.