Study Of Unmanned Aerial Vehicle Route Planning

Unmanned Aerial Vehicle route planning is a complex problem including theconsideration of maneuvering performance,fuel expend and threat,then give the bestsolution of future flight path. Route planning system as a key part in unmanned aerialvehicle research field is the effective protection to improve the unmanned aerial vehicleflying ability and the operational capability.Facing the complex fight environment andflexibility mission,how to find an effective way to solve these problems becomes asignificant content in route planning algorithm research filed.The main topic of this thesis is unmanned aerial vehicle’s route planning algorithm,andthe paper first introduces the route planning application background as well as domestic andforeign research status. This thesis give a detailed introduction of unmanned aerial vehicle’sroute planning problem and build a reasonable math model of the problem,then describe themaneuverability of unmanned aerial vehicle and the method the unmanned aerial vehicleuses to deal with the threat and establish the models;secondly,the paper introduces thecurrent mainstream algorithm in path planning,and the weighted Voronoi diagram is createdaccording to the certain threat sources,then the optimization algorithm is researched basedon Voronoi diagram.In order to improve the quality of the optimal solution and the ability insearching the whole best solution of the path planning problem,and overcome theshortcomings of the traditional ant colony algorithm,an improved ant colony algorithm isproposed.The new target attract strategy,the pheromone increment adjustment factor and aupdating for pheromone volatilization coefficient are introduced to improve the basic antcolony algorithm.Through the analysis of the experiment data, we can conclude that,thenew algorithm has advantage than the basic ant colony algorithm in the time and tracklength performance for same problem;thirdly,based on the uncertainty of the environment inwhich the UAV flies and the new threat of air defense,it is hard to get the threat of global accurate information in advance,the research online route planning based on the preflightplanning.This paper introduces the principle of online re-planning when emergencyhappens.According to the principle of partial reconstruction of Voronoi diagram,real-timepath re-plan for UAV’s method is proposed based on the improved ant colony algorithm andtest the developed algorithm in virtual environment.The results show that the proposedmethod is applicable to route planning of UAV with unexpected threats.So,the UAV canavoid the battlefield threats,which reaches the target point smoothly.Finally,this paper summarizes the work and achievements.And the need for in-depthresearch and the improved content has been carried on the further discussion.