Research And Implementation Of Trajectory Planning In Real Dem Maps Based On Milp

This thesis studies the path planning of UAV in the mountain environment, and established track optimization algorithms that based on receding horizon control(RHC) and mixed integer linear programming(MILP). The ultimate goal of this module is to enable it to be used in real combat, and the practical application, so we studied the real DEM elevation digital maps. In this thesis, we use mathematical programming modeling language AMPL and high-performance commercial software CPLEX optimization solution for simulation in matlab. Simulation results show that by using of receding horizon strategy and optimization based on a linear track mixed integer programming algorithm can plan a best track that meet our predetermined constraints. The main contents include as follows:(1) Research based on mixed integer linear programming algorithm.We studied the UAV track planning flying in mountainous wild and discussed the constraints establish method that UAV to avoid obstacles and terrain topography tracking. The establishment of a mixed integer linear route planning algorithms based on receding horizon, combined triangulated irregular network(TIN) model and mixed-integer linear programming(MILP) to describe the terrain avoid obstacles.(2) The research and structure of real DEM elevation maps.This thesis studies the underlying data structure of DEM map, proposes a terrain data format conversion method which includes DEM interpolation technique, random map generation algorithm, elevation data is read from the map file, after extraction of DEM terrain data to reconstruct in matlab, convert TIN approach and discuss how to use opengl terrain modeling.(3) Path planning algorithm simulation on random maps.Verify the correctness and feasibility of the algorithm on a random map. This includes research and implementation of the algorithm to generate random mountainous terrain. We use random midpoint displacement method to generate mountainous terrain, such as mountains, plates etc.(4) The route planning algorithm apply on a real DEM terrain.Research involved in this part including: we need to read out and re-extract the elevation map data and formatting in order to accommodate the requirements of the input data. Finally, all the data should import into matlab for modeling, then to simulate and verify the results.