The Algorithm Study Of Four-rotor UAV Route Planning

Route planning technology for the UAV is used to plan the flight route that meets the actual requirement under the consideration of a various factors such as flight distance,fuel consumption,terrain environment and obstacle threat etc.Route planning is the key technology for autonomous flight of UAV,and the core of route planning is route planning algorithm.Therefore,the research of UAV route planning algorithm is of great significance both in theory and in practice.In this paper,the quadrotor UAV is acted as the specific object for the research of route planning problem.In 2D and 3D environment respectively,route planning should avoid the obstacles in the environment,and plan the best flight route from the beginning to the end.First,the paper takes the real environment as a template,establishes the flight environment model by function simulation and grid method,analyzes the unique performance of the quadrotor UAV,and finds the constraints for the characteristics of the quadrotor UAV,a corresponding evaluation function is proposed,and the environmental model is set up suitable for artificial potential field method and A* algorithm.Then,this paper introduces the two-dimensional artificial potential field method.Two artificial potential field methods,one of which improves the repulsive field function and the other improves the direction of repulsion,were verified for solving the minimal problem.A new improved method called selective crossing method 'is proposed to solve the minimal problem in a special flight environment.After that,the improved artificial potential field method is extended to three-dimensional space.Simulation result shows that the effect of the route planning is to be ideal.Finally,the paper analyzes the principle and implementation process of A* algorithm in detail,and a sparse A* algorithm,combination with the unique constraints of quadrotor UAV,is used to plan the route in 3D environment.In order to achieve real-time route planning,an A* algorithm and the improved artificial potential field method are combined in the paper,where the A* algorithm is applied to plan global original trajectory,and the artificial potential field method will re-plans local trajectories while new obstacles are discovered during the flight.In the experimental simulation,the desired effect of real-time route re-planning is achieved.Simulation experiments show that the artificial potential field method and A* algorithm can both solve the path planning problem of the quadrotor UAV,and the A* algorithm combined with the improved artificial potential field method can realize real-time route re-planning in addtion.