Study On Flight Control And Path Planning Algorithm For Quadrotor UAVS

Nowadays,UAV is rapidly developing.Whether military or civilian,unmanned aerial vehicles more and more reflects its great practical value.With the application of more and more widely,the requirements for UAV from basic flight control to intelligent autonomous flight,are higher and higher.The study on UAV is developing at a higher level.The stability control of unmanned aerial vehicle(UAV)is the foundation of all tasks.According to the human-simulated intelligent control(HSIC)theory,a kind of quadrotor UAV human-simulated intelligent controller is designed.In order to verify the feasibility and superiority of the controller,the paper compares it with the traditional cascade PID controller.The experimental results show that the controller designed in this paper has better control effect on the quadrotor UAV.UAV path planning is an important part of UAV to achieve autonomous flight,and because of the increasing complexity of UAV missions,efficient flight is essential,so the UAV path planning technology has received more and more attention.UAV path planning is that UAV complete path planning autonomously in the known or known environment,and ensure the optimal flight index,of course the start and end coordinates is given.In the field of mobile robots or two-dimensional environment,path planning technology is relatively mature,there are many algorithms have been applied,such as ant colony algorithm,genetic algorithm and so on,have achieved good results.However UAV fly in three dimensions,but also consider the constraints of UAV and other factors,the problem become more complex,many algorithms cannot meet the planning requirements,and need for further study.Based on the existing research,this paper studies the more commonly used genetic algorithms,and improves it for the path planning,and has achieved some results.However,this paper only studies its application based on the grid modeling,considering the factors such as the width and breadth of UAV flight environnent and the smoothness of flight path,a new algorithm,Dubins path planning based on A*algorithm,is proposed in this paper,which taking into account the UAV's own turning radius constraints,a smooth,shortest flight path can also be planned.In this paper,the proposed algorithm is introduced in detail,from the principle to the specific process,from 2D to 3D.Finally,its effectiveness is verified through MATLAB simulation experiments of the method.