Path Planning And Tracking Control Of Unmanned Aerial Vehicle For Group-Targets Searching

UAV(Unmanned Aerial Vehicle) presents the unprecedented development with the society progress and technology innovation. Path planning and path tracking control have always been important parts of the UAV autonomous flight system. The current path planning research is usually aimed at single UAV, for multiple UAVs not only need to consider all sorts of problems of the single UAV but also need to consider the number of UAVs and the relationship between the paths. At the same time, quad-rotor aircraft has received the widespread attention for its unique advantages when compared with fixed wing aircraft. The tracking controller design for quad-rotor system with underactuated, nonlinear, uncertain parameters is difficult. Based on the above consideration, the main works of the paper are given as following:First, this paper analyzes the necessary and cost constraints of the path planning, such as distance, flight remaining time, task execution efficiency, environmental landscape etc, so as to establish the cost function of UAVs path planning model for group-targets searching. At the same time, the advantages and disadvantages of some path planning algorithms are compared, the applicable scope of the algorithms is also analyzed.Second, UAVs path planning algorithm for group-targets searching problem has been researched. A SFLA(Shuffled Frog Leaping Algorithm) which added swap sequence method and adjusted evolutionary step is used to the preliminary path planning for the group-targets searching problem.Then, the collision detection algorithm about the obstacles between the track nodes has been discussed, using the obstacles' expanding bounding box to carry out the obstacle avoidance flight. The situation of obstacles between the track nodes and the UAVs flight line intersected to the same obstacle has been analyzed. The most suitable paths have been selected by simulation results.Finally, quad-rotor aircraft control problem is discussed. A kind of SVM(Support Vector Machine)-based sliding mode controller is given to solve the parameter uncertain. At the same time, a compensator based on adaptive Online Support Vector Machine is designed to compensate the external disturbance in the process of the flight. The simulation results and analysis show that the effectiveness of the described method.