Research On Route Planning Technology Of A UAV Drone

As the core of the UAV mission planning system, Route Planning Technology is the key toachieve autonomous flight. In this paper, the route planning methods according to the requirements ofthe mission is researched, and the engineering implementation of the planning system is processed.First of all, three model of the typical range environmental according to the actual task areestablished. The establishment of the complex terrain environment is mainly based on the SRTM data,the establishment of the complex task environment is mainly based on the simplified model of radar,and the establishment of the complex terrain and threat environment uses terrain fusion technology, atthe same time, the method of the geometric modeling is introduced;Secondly, according to the requirements of specific flight, the route planning method based onthe Dubins curve is researched. By researching on it, the optimal path between two waypoints withknown position and direction is planned, and based on the two-dimensional, the path planning ofthree-dimensional based on Dubins curve is introduced. The simulation result shows that the optimalpath which meets the flight conditions can be planned by the algorithm;Thirdly, based on the basic ant colony algorithm, the improved ant colony algorithm isresearched, and then the route planning of three-dimensional is achieved. Not only the rasterization ofthe environment and the design of the cost function, but also the processing of the constraint conditionextended from two-dimensional to three-dimensional space, at the same time, according to theshortage of the basic ant colony algorithm, the factors such as pheromone limitation, visibility,volatile factors are improved. The simulation results show that: the route can be planned quickly andefficiently by the improved algorithm;Then, the smoothing processing method of the two-dimensional track is briefly described, and anexample of simulation is given;Finally, the composition of the target drone system is introduced, and the physicalimplementation of the Route Planning System is amply discussed, which includes data entry of theinformation, track generation, track loading, track validating. And a digital simulation example ofRoute Planning system was given, the result of the semi-physical simulation shows that the trackwhich was planned by the system is safe to fly.