Research On 3-D UAV Path Planning Algorithm

As more and more UAVs have been used on the battlefield in recent years, autonomous control ability and task operating ability for UAV is gradually becoming a hot research area. 3-D UAV path planning is the fundamental element of autonomous control for UAV, and so is a key part of diverse military task accomplishment. This paper carries out research on the problems of 3-D UAV path planning, and proposes effective algorithms to solve them.The significance and current condition of research on 3-D UAV path planning are sketched in brief, and then the basic planning elements and current mainstream path planning methods are introduced.This paper builds the original 3-D digital terrain with the function method, conducts smoothing operations on the original terrain with the combination algorithm of slope-smoothing and curvature-smoothing, and then establishes the UAV’s save flight surface. Threat netting of air defense network has been analysized in detail and then threat netting model based on the radar threats is built.Based on the threat cost and fuel consumption cost, this paper builds up the integrated cost function model of UAV flight, and then conducts UAV path planning simulation experiments with the method of ant colony algorithm. To avoid the shortcomings such as searching long time and easy dropping into local optimum of basic algorithm, this paper puts forward the improved algorithm. The simulation results show that the improved algorithm embodies good path planning effects.In consideration of the shortages of global path planning algorithm when sudden threat occurs, this paper analysizes the problem of online path planning. Since online planning needs to be fast, real-time and effective, the paper puts forward the combination algorithm of artificial potential field method and the improved ACO algorithm to ensure flight safety.When facing the situation of multi-task UAV path planning, this paper analyzes two kinds of situation:assigned task traversing order and un-assigned task traversing order. This time the improved ACO algorithm is again used on the task nodes one by one to conduct the global 3-D path planning of assigned task traversing order. In solving the 3-D path planning problem of un-assigned task traversing order, the combination method of Dijkstra Algorithm and the improved ACO algorithm is used.