Design And Implementation Of UAV Path Planning Simulation System Via Directx

With the improvement of the complexity in the modern battlefield environment,unmanned aerial vehicles in the modern battle field is playing a more and moreimportant role. On the battlefield, It is necessary for UAVs to fly at low altitude toimprove security. But flying at low altitude also brings a lot of threats to UAV, such asradars and forbidden area. So, UAV path planning algorithm is necessary for UAVs toplan a safe trace which if from the start Point to the target Point. When executing thecombat mission, multiple UAVs coordinate to complete mission will effectivelyimprove the success rate. In the future, multiple UAVs cooperative to complete missionwill be an inevitable trend in the modern battlefield.UAV path planning simulation system can estimate UAV parameters, thetopographical information, the threat information and the strategic information tocalculate the UAVs’ assessment cost matrix. And then, the system plan safe traces forevery UAV. The validity of the simulation system related to the UAV missioneffectiveness and success rate.At present, most of scholars’ research focuses on UAV path planning algorithm,while the research on UAV path planning system is in a relatively early stage.Firstly, this article discusses the approaches of building UAV path planningsimulation system’ architecture. This systems use VS2010and DirectX tools to build, tocomplete single-UAV task and multi-UAV planning tasks. The system can be used aspath planning algorithm demonstration platform for comparative evaluation of variousalgorithms.Secondly, this paper introduces the A*algorithm and its application in3Denvironment, and then designs the calculation method of the heuristic function. Theheuristic is calculated by the path length cost and the threat cost. In order to facilitatethe calculation of the threat cost, we quantize threat cost to length cost.Thirdly, this paper discusses the multi-objective allocation algorithm. Themulti-objective allocation algorithm is based on the path length cost and the DEevolutionary algorithm. Firstly, this allocation algorithm uses the straight lines betweenstart pos and target pos to cut the three-dimensional terrain, and use these sections toestimate the length of UAV’s path.And then,path length cost matrix is built by theseestimated paths. Then, we use the DE evolutionary algorithm to calculate the allocationmatrix.Fourthly, in order to solve the problem of multi-track route planning’ collaborationand avoiding the collision between the paths, the multi-UAV cooperative trajectory planning method which is based on the sparse A*algorithm and the target allocationmethod is designed. In the process of path planning,we take into account the UAVperformance constraints and the safe distance constraint between every two UAVs. Inorder to consolidate the planned paths, we also add the synergy contrary factors to theheuristic function.Finally, the interfaces of the path planning simulation system are introduced.Then, we simulate the single-UAV path planning, the multi-UAVs path planning, andthe multi-target allocation in two-dimensional environment and three-dimensionalenvironment.Then, the feasibility and the effectiveness of the system is proved.