Free Space For Route Planning Method Applying Research

In modern war, with the diversification of mission requirements, for simple task need only a single UAV according to the scheduled flight, this requires planning quickly out of the single track which is the optimal route;for complex tasks usually need to call multiple UAV together to complete the mission which not only needs to be planning a uniform distribution tracks on the space, but also the tracks are approximately equal for the length. Current route planning methods are almost all structure reasonable planning space, and then use the corresponding search strategy to find the solution within the planning space, without further in-depth analysis of planning of the space environment information and expression.How to construct a reasonable and effective planning space which can apply to both single path planning, also can satisfy the tracks cooperative route planning has become research hot spot for domestic and foreign scholars.Aiming at the unmanned aerial vehicle, we propose a route planning method based on free space which can apply to both single route planning,also can satisfy the tracks cooperative route planning.The main idea of this method divides solution space into different sub solution spaces.The main steps of the method and characteristics:First of all,we simplify the island which makes it meet the requirements of UAV route planning application and realize the fast route planning;Secondly, the planning space is decomposed into many sub concave polygon island in the convex polygon island combination makes the description unified planning space environment;Finally,after the planning space was decomposed,then searching the all possible connected cells of star cell to goal cell and dividing planning space into channels,within each channel with the algorithm for route planning.The division of the channel can be using solving single route planning,can also be applied to collaborative route planning.Experiments are carried out in the planning space consisted of electronic navigational chart, simulated forbidden areas and threatened areas to test the path planning algorithm proposed in this paper.The results of experiments show that the algorithm is correct and efficient.