Study On Path Planning For Unmanned Combat Air Vehicle Under Uncertain Environment

Path planning is one of the critical components of Unmanned Combat Air Vehicle (UCAV) Mission Planning System which provided the technical support of the autonomous flight. UCAV missions will be carried out in dynamic and complex environment which include of many uncertain factors, such as threat and moving target. Thus, UCAV path planning with uncertain information becomes an important problem in the whole field of UCAV path planning, which is critical to increase the operation effectiveness of UCAV mission planning. This paper put emphasis on study of path planning algorithm. The main contribution is summarized as follows:(1) The influence of these uncertainty in the path planning configuration space is analyzed, and mathematical model is established which combining the concepts of interval value and probability distribution to represent the uncertainty. Based on the arithmetic of Kalman Filter, a method of predicting the dynamic target location is introduced.(2) With respect to path planning under uncertain environment for tracking of moving target, the principle and character of MT-D*Lite algorithm are described, through adjusting configuration space, cost estimate function and process of algorithm, a novel path planning method is proposed for tracking of moving target under uncertain environment.(3) With respect to 3D path planning under uncertain environment for tracking of moving target,, using Matlab software to the model of UCAV three-dimensional path planning for tracking of moving target. The simulation result proved that the improved MT-D*Lite algorithm is more efficiently, rapidly and optimized than Focused D* algorithm, which can reduce search space and satisfy terrain avoidance and threat avoidance.At last, the research fruits are summarized. Following that, limitation of the research and future research emphasis are pointed out.