Research And Application Of UAV Route Planning Based On A* Algorithm

With the development of the aviation technology and (Unmanned Aerial Vehicle) UAVs, the route planning technology of UAVs has become hot research of the UAVs, which is the key technology of the autonomous navigation. The task of the route planning of UAV is to plan a path to ensure the UAV’s mission and security, according to a variety of situations, such as the flight environment, the threat, consumption of fuel and time to reach the destination. This dissertation is mainly focused on flight environment modeling, threat processing, route planning algorithm and online route re-planning algorithm in case of emergency, and the design of a monitoring control system for UAVs.Firstly, some models related to route planning are built, including the present models of flight space and flight route, constraint condition and evaluation algorithm of route planning. Secondly, the process is introduced to establish the original digital map and threat. The bilinear interpolation technique is adopted to obtain more accurate elevation data information. In addition, the thread data is integrated into the processed elevation data to establish equivalent elevation map. What’s more, the study of route planning algorithm is divided into online and off-line. A* algorithm and genetic algorithm are introduced to realize the off-line route planning. In order to improve the A* algorithm’s performance about search space and search speed, three measures are took as follows, using the constraint conditions of UAVs to reduce search area, using minimum heap way to manage the OPEN list, using bidirectional search to find the path. In addition, specific to the problem of slow evolution of genetic algorithm, we distinguish genetic algorithm based on whether the trajectory is feasible. We will operate these two types of trajectory by adopting different genetic algorithms in order to improve the speed of finding the optical path. Experiment results show that it has ability to well implement the on-line route planning by combining A* algorithm and genetic algorithm.Finally, a monitoring control system for UAVs is designed based on the improved A* algorithm, which could not only execute the route planning, but also monitor different kinds of flight parameters of UAVs. What’s more, a data protocol is designed to solve the low utilization of link data, which is simulated on the designed monitoring control system.