Research On Route Online Planing For Unmanned Helicopter

The UAV route planing is to plan out a optimal or satisfactory flight route in the case ofcomprehensive consideration of the vehicle arrival time, fuel consumption, threat and factors such asflying area.This study focuses on the route online planing of the unmanned rotor craft based on theroute planing technology of domestic and overseas,and proposes the design scheme of the routeplanning system based on DSP.Firstly,this paper modeled the task of route planing with Simple and understandable graphicinterpretation.The planning space,the representation method of path,the cost function of path andconstraint conditions were discussed in detail.Aiming at the route planning itself and solution method,more clearly and more thoroughly explain was given.Secondly,the three dimensional planning space was established.Grid method,two dimensionalthree convolution interpolation,RBF and information fusion technology were applied to establish theDigital Elevation Map.The three dimensional planning space suitable for route planing wasestablished according to turn the limiting condition of the Vehicle itself maneuvering characteristicsinto the limiting condition of DEM.Thirdly, two kinds of route planning algorithm, evolutionary algorithm and A*algorithm wereresearched.The performance of each algorithm was known by processing a simulation on eachalgorithm under MATLAB environment.The route planing system based on MATLAB was designed.The real time simulation of it was carried out and get an excellent result.It also proof that the routeplanning algorithms are feasible and practical.Finally,this paper completed the communication between the DSP system and the computer,thedesign of the route planing system based on DSP and the design of the route planing system userinterface based on MATLAB/GUI. On the basis of the current work processed the semi-physicalsimulation tests and verify the path planning algorithm is practical and the feasible and the real timeof the system.