Research On The Method Of Unmanned Aerial Vehicle Route Planning

With the continuous development of information technology,unmanned aerial vehicles in the modern war are becoming more and more important.Unmanned aerial vehicles are particularly well suited to replace specific human reconnaissance and attack missions in a dangerous,harsh and extreme environment because of their unrivaled flight.As an important part of unmanned aerial vehicle related technology,UAV route planning technology is the key to realize autonomous flight under the command of ground control station.It is also the technical guarantee for realizing intelligent navigation and safe flight of UAV.This thesis firstly analyzes the physical limitations of UAVs during flight,the types of threats to UAVs in the flight area,the specific nature of the threat source and the threat to the UAV.Combined with the various constraints of UAVs,the basic mathematical model of flight environment in UAV route planning is proposed.Secondly,aiming at the flight environment of multi-threat source distribution,this thesis studies the UAV route planning method based on Voronoi diagram.For the Voronoi diagram algorithm,this thesis introduces the origin and development history of the algorithm,gives the definition of Voronoi diagram of two points and multipoint.Combining the constraints that Voronoi diagram needs to satisfy,we introduce a duality using Voronoi polygon and Delaunay triangular lattice The method of indirectly generating Voronoi diagram.In this thesis,the Voronoi diagram is used to preprocess the flight environment of the UAV,and the Voronoi diagram polygon is obtained.The Voronoi diagram node is obtained as a set of flightable route nodes,and the optimal route is obtained by the subsequent search algorithm.Again,the principle of ant colony algorithm is studied in detail.Aiming at the influence of the selection of each parameter in the algorithm on the performance of the algorithm,the simulation analysis is carried out.In order to solve the shortcomings of the traditional ant colony algorithm in dealing with specific problems,such as large searching space and long time-consuming algorithm,this thesis proposes an improved ant colony algorithm and applies it to route planning.By searching the flight route node set,The best route.Theimproved algorithm not only improves the accuracy of the planning route,but also takes into account the physical limitations of UAVs,and smoothes the route to meet the physical limit conditions of UAV flight.Finally,this thesis verifies the feasibility and effectiveness of the proposed route planning method in the multi-threat source distribution flight environment.The solution can guarantee the unmanned aerial vehicles to avoid all kinds of threats and safely arrive at the target location.