The Research Of Route Reorganization Method Based On Route Segments

Route planning is a core function of mission planning systems, a key technique of unmanned aerial vehicles'automatic navigation. The route planning method based on route segments is proposed based on the traditional roadmap method and cell decomposition method. This method uses phased planning, the first phase is construction of route segments, to generate a network constituted of route segments; the second phase is to reorganize routes conformed specific conditions, use the segments which were constructed in the first phase, for specific planning tasks. The route searching of network is real-time, can satisfy the time conditions of route planning. In this paper, two kinds of route reorganization technologies are proposed, and implemented in the route planning system based on route segments.Firstly, this paper analysis the purpose and significance of route reorganization, combined with the research situation. Then introduce the thought and main content of route planning method based on route segment, focus on the construction of route segments, analysis the structure of route segments to prepare for the route reorganization. In the research of route reorganization technology based on A* algorithm, this paper combine with the feature of multi-tier grids'network, use A* algorithm in route reorganization. Then a route reorganization method based on genetic algorithm is proposed, encoding method and genetic operators are improved for route searching on network, proper fitness function and termination conditions are given based on requirements of route planning. Finally, this paper make an application analysis of route reorganization method, analyze the advantages, shortcomings and use environment of two route reorganization methods, through the comparison with traditional route planning method and comparison of two methods proposed in this paper.