3D Real-time Visualization And Simulation Platform For Collaborative Path Planning Of UAV

In recent years,with the rapid development of UAV technology,unmanned aerial vehicles have been widely used in military and civilian fields.UAV application scenario environment is becoming more complex makes the UAV path planning becomes increasingly important,and in a wide range of applications scenarios,multiple UAVs are needed for collaborative path planning.There are many researches on cooperative path planning algorithm of UAV,and it has made remarkable achievements.For the cooperative path planning results of validation studiesare still relatively lacking.There is high cost,high risk and other issues for using real UAVs to verify the route.The traditional two-dimensional track simulation system based on graph and curve cannot meet the demand of the rapid development of UAV applications.There are still some issues existing in current path planning of UAV,such as planning result simulation verification and 3D visualization.To solve the problems and complete the overall demonstration program of certain UAV reconnaissance system,a 3D real-time visualization and simulation platform for collaborative path planning of UAV was proposed.A three-dimensional terrain simulation environment is constructed,and the target area was divided and calculated.The reconnaissance beam of UAV was modeled with virtual camera,the intersection points obtained quickly based on graphics hardware.The terrain mesh was calculated by scan-line polygon filling algorithm,reconnaissance information was recorded and analyzed.Finally,the color temperature maps were given to visually display the detective distribution of UAV in the specified route.Through the actual operation by the simulation platform,simulation results verify that the simulation platform provides a practical means of visualization simulation and verification for traditional collaborative path planning.