Unmanned Aerial Vehicle (uav) Route Planning Technology Research

With the development of aviation science technology, Uninhabited Air Vehiclesplays a significant role in modern war. As a important way to enhance the operationaleffectiveness of the UAVs, the Path Planning has attracted great interest of campaignplanner. But in actual application, as the flying environment is quite complex, and manyconstraints may appear, to establish good planning environment and effective planningalgorithm has become the key solution of path planning.UAV Path Planning has been mainly studied in this dissertation. According to thebackground of this project, the development of UAV Path Planning at home and abroadwas simply analyzed, then the premise of the UAV Path Planning was described, at thesame time, several threat models and evaluation of the path was introduced.Byanalyzing the advantages and disadvantages of several algorithm which are commonlyused in UAV Path Planning, the algorithm which are suitable for this project was chose.Path planning was divided into online and off-line. By analyzing the traditional PRMalgorithm, two novel methods for UAV Off-line Path Planning with respect to twoobjectives was presented, they were the heuristic node enhancement and avoidance ofthe collision detection respectively. The former has reduced the detours and polyline ofthe path, making the path more smoothly. The latter has greatly reduced the time ofroadmap. By analyzing the advantages and disadvantages of PSO and PRM algorithm,On-line PSO-PRM algorithm which effectively combined PSO and PRM was presented,the PSO was used as global path planner and the PRM was used for local planner. Thenseveral simulation experiments under the different threat environment using PSO-PRMplanning route were carried out. Moreover, the advantages and disadvantages of theupdates of local route and global route under different threats environment wereanalyzed, helping UAV chooses right method to update route. There were inevitablesome detours and polyline for route generated by the aforementioned method. Therefore,a optimization method based on visual graph which is used to delete the unnecessary“detour” and “polyline” was proposed. At the same time, the Dubins path was used to get the shortest path in the case of meeting the constraints of UAV’s performance(suchas minimum turning radius, the maximum pitch angle).Many simulation experiments were carried out. Results demonstrate that theproposed method was correct and reliable.