Small UAV Control System Design And Path Planning Research

UAV has the advantages of small size, light weight and low cost. Nowadays, it has a broader prospect in both of the military and civilian fields. The increasingly complex of the flight environment and diversified missions require and challenge the Unmanned Aerial Vehicle(UAV) that flies autonomously. Therefore, some technologies related to path planning, flight control system and attitude measurement are studied in this paper, the work for them is done as follows:Firstly, this paper introduces the development status of the UAV which includes the path planning, attitude determination based on the MEMS device and design of the flight control system.Secondly, after studying the ant colony algorithm and the expressions of path planning based on the grid method direct against a specific problem of UAV, construct the optimization object function, the path planning problem solving model was established and the improved ant colony algorithm was used to solve it, then verify the availability by using the MATLAB simulation tools.Thirdly, complementary filter is adopted to accomplish the attitude determination based on the MEMS, the expressive methods for orientation of the UAV, the conversion form quaternion to euler angle method and the extension of the whole angle; Using integral of the angular velocity of the gyroscope and optimization method based on the accelerometer and magnetometer respectively to solve the attitude, fuse these two method and get complementary filter algorithm, then realize the algorithm by programming and carry on metrical experiment.At last, this paper studys the flight control system of UAV, and designs the hardware composition and the software system according to the demand of the overall plan of the system. Introduce the math model of the UAV, study the PID flight control method and then verify the availability by simulation and some experiments.