Research And Implementation Of The UAV Path Planning And Monitoring System

The widely use of the Unmanned Aerial Vehicle(UAV) in the modern wars, hasmade the security flight of UAV and the accurate of completing the task becomeresearch focused at home and abroad. According to the different mission requirementsfor the UAV, path planning can provide one or more security and feasible routes toguarantee the autonomous flight of UAVs. Condition monitoring can real-time reflectthe state of UAV to ensure the operators on the ground to make timely processing whenthe UAVs meet the threats or failure. Both path planning and condition monitoring arethe function modules in UAV ground station, under the trend of development of thegeneral-purpose ground station, the study of the two modules and the implementationhas a certain practical significance.The goal of this thesis is to develop a set of route planning and monitoring softsystem of the UAV which has a certain commonality. Based on the research of existingstation at home and abroad research results, combined with the existing conditions andtechnologies, this thesis builds the overall scheme of the system: it determined the basiccomponents such as the separation of view, the digital maps, and virtual instrument, alsodetermined the basic functions such as path planning, path tracking and playback,navigation point editor, and flight control. At the same time, it increased thethree-dimensional GIS maps, manually edit track, the undo/redo edit function.In the path planning, by the study of the existing route planning algorithm, andbased on the existing conditions of the3D GIS, it studied the A star search algorithm inthe three dimensional space to realize the single UAV route planning. By consideringthe oil amount, threat coefficient and UAV physical constraints and other factors, itdetermines the reasonable cost function as evaluation function to search node. Based onthis, it puts forward multiple UAVs combating the same tasks at the same time. Basedon the theory of multiple UAV mission coordination control, it used the distributedcontrol method of solving the task assignment, proposed a method that is using thenonlinear dynamic average estimation algorithm to estimate the average time of themultiple UAVs reaching the target location at the same time. Then it established the control equations of distributed control, and used the Lyapunov’s function to prove thestability of the system. It also studied the stability of the system when met the obstacles.On the software implementation, for the requirement of developing the universalsoftware system, improving the flexibility and scalability of the system, it used theseparate view technology to set up the console of software. it took the command designpattern to realize the undo and redo functions when editing the waypoint. By using themodular thought, it encapsulated the net communication to the dynamic linklibrary(DLL), to make it can be called anywhere. At the same time, it designed thevirtual instrument as an independent control which can be embedded into any othersystems; By using technology of the two dimensional vector maps, three dimensionalGIS and the Database, it realized the path planning based on the three dimensionalspace, path tracking, and playback, and condition monitoring and other functions.