The Research On Route Planning System For Unmanned Aerial Vehicle

With the continuous development of information technology, the importance of UAV in modern warfare is increasingly apparent. In this context, the thesis carry out the research on route planning system for UAV from three aspects-- route planning for single UAV, route planning for Multi-UAV formation and cooperative route planning for Multi-UAV.Systematic solution is proposed for route planning for single UAV. First, the environment model for UAV route planning is established, and the reference route is obtained by using the sparse A* algorithm. On this basis, an adaptive hierarchical smoothing algorithm is raised, which contains two stages for the path smoothing. In order to make the path linear smoothing, the redundant waypoints are removed in the first stage; and on the second stage, adaptive adjustment method is used to meet requires of UAV flight constraints.For the route planning for Multi-UAV formation, the multi-UAV formation model and environmental model are established, and a multi-UAV formation route planning algorithm is proposed. On the basis of the single UAV route planning, the first step is to plan a route for leader-UAV. Then according to the formation model, the leader-UAV route is extended to get wing-UAVs' routes. Finally, by the adjustment of speed for wing-UAVs, the time coprocessing is achieved. So that multi-UAVs can maintain constant flying formation during the flight.For the cooperative time route planning problem for multi-UAV which start from different points and reach the same destination simultaneously, an anti-collision collaborative planning algorithm for multi-UAV is proposed. First, the length of multi-UAV routes are estimated and sorted in descending order. Then plan the route for single UAV in that order. During those steps, the anti-collision detection methods in route planning process, as well as anti-collision detection methods in smoothing process are analyzed emphatically, to ensure the safety of multi-routes. Finally, by the control of UAV flight speed, time calibration is completed in order to meet timing cooperation.The UAV route planning system is simulated, and the result shows that the proposed methods can solve the corresponding route planning problems and the smoothed routes meet the UAV performance requirements, which means the proposed algorithms are feasible.