A Study Of UAV Path Planning Algorithms

Mission planning system is accompanied by the development of modern information technology and the rapid rise of a technology, especially its excellent performance in local wars, but also caused widespread concern around the world. UAV path planning is the key technology of mission planning systems, but also to achieve UAV intelligent navigation and technical support for the successful completion of the task. This paper considers the factors that track various aspects of UAV and studies the UAV path planning algorithms, aims at improve the survival probability of UAV and the capacity of successfully complete the task, while improves the efficiency of the algorithm a certain extent.This paper comprehensive analysis the path constrains of UAV from the aspects of mission planning environment, the physical characteristics of the UAV tactical mission objectives. The basic mathematical models of UAV path planning is given after considering the various factors. This paper also describes the key issues of UAV path planning and the corresponding solutions, at the same time, two single UAV path planning algorithms and a Multi-UAV cooperative path planning algorithm is given.For the single UAV path planning algorithm, this paper introduces the A* algorithm and cellular automata algorithms in detail. This paper improves the traditional A* algorithm drawback of large search space, time-consuming, easy to fall into local optimum, a fast A* algorithm is given to improve the efficiency of algorithm to make a better path, this paper also extend the fast A* algorithm to three dimensional space; for the cellular automata algorithm, this paper optimizes the evolution function and improves the efficiency of algorithm and the accuracy of path. For the both two algorithms of single UAV path planning, simulates them in the same distribution of environmental threats and verifies the correctness and effectiveness.For the multi-UAV cooperative path planning algorithm, this paper combines path planning and the theory of passive localization, proposes a multi-UAV cooperative path planning algorithm based on passive localization. The algorithm takes the UAV as theobservation station, uses the triangulation localization of passive localization, takes the observation targeting of RMSE value as the cost function, and makes the minimum of RMSE to ensure the optimal configuration of multi-UAV in every observation, when the RMSE reaches the minimum, to complete the optimal observation of the target, thus completing the task of multi-UAV cooperative path planning.This paper optimizes the traditional algorithm and processes the planning path further,strives to make the algorithms more efficient and the path better. The research area of UAV path planning problem already quite outdated, but it still worth pondering and exploring many aspects, and the UAV path planning problem can combine with other research areas, thus can solve the practical problems which more complex.