Research On Route Planning Algorithm And Visualization

Route planning algorithms bear a central role of flight trajectory planning system, which serves as both the technological support for UAVs and the effective tool for remote strike precision promotion of army.This dissertation has studied off-line single path planning algorithm, multi-paths planning algorithm and real-time planning algorithms, and designed a visual simulation system. The main contents are as follows:To design the single trajectory optimization algorithm, the Dijkstra algorithm united with genetic algorithm was used. For simplicity, the Dijkstra algorithm was to get the rough trajectory based on the known information. After that, the Bezier curve under control of genetic algorithm to optimize the reference trajectory.In the course of multi-optimization path planning, this dissertation proposed NSGA and KNSGA which combined Pareto sorting with crowding distance selection method, while designed several different evolutionary operators to get feasible and optimized trajectories. Finally, K-means clustering algorithm was introduced to group the evolutionary paths. Simulation results show that the KNSGA could complete the multi-paths planning mission.The dissertation developed the rapidly-exploring random tree algorithm by adding the kinematics equations of UAV and several heuristic visual information. The improved RRT algorithm could get optimal trajectory rapidly.A group of nonlinear motion equations of helicopter are established, and a controller at two scales with CMAC and PID parallel control were designed to solve the coupling problem and trajectory track problem.In order to complete the design of route planning visual simulation system, threats modeling method, random terrain, fractal interpolation, digital map technology and Vega Creator/Prime simulation software were studied. Finally, the dissertation designed a visual simulation system base on Qt GUI.