The Control And Path Planning For The UAV

As the key technologies of UAV`s research, control method and route planning method are important factors to achieve the autonomous flight. Meanwhile, they determine modern UAV with high performance to flying safely and completing complex tasks. In view of the above two problems, this paper respectively makes studies.In order to research control method and route planning method of UAV, the quadrotor is chosen as simulation platform. First of all, quadrotor model is built by Euler method. And based on the model, the double loop controller is designed. Considering the strongly nonlinear and strong coupling of attitude kinematics and dynamics of quadrotor, backstepping method is used to design the inner loop controller, and PID method is used to design the outer loop controller. The simulation platform, which is built on Matlab, is used to test the validity of control method. Forthermore, based on Arduino IDE, a hardware-in-the-loop simulation platform is used to vertificate the control method. The results show the controller could effectively follow the control command.Second, for the disadvantage in the validity of airline with traditional geometry searching method, a route planning method based on A* algorithm, differential flatness and SQP is put forward. This approach uses the traditional A* algorithm to obtain initial waypoints. The UAV model is processed by using differential flatness in order to decrease the difficulty of flyable path solving. The flyable path, which is expressed by B-spline curve, is calculated with SQP. Otherwise, for pop-up threats, a real-time route re-planning method is designed by using D*Lite algorithm, differential flatness and SQP. Simulation results demonstrate methods could effectively decrease the unflyable waypoints.Finally, in order to verificate the control method and route planning method, the visuable simulation system is built on two open sourse softwares called paparazzi and Flightgear. The system achieves real-time visual flight simulation, which includes plane`s attitude and position, weather condition and geographic environment. Based on this system, flight simulation has the characteristics of validity, feasibility, practical value and expansibility.