Research On Optimal Route Planning Algorithm Based On Dubins And Some Problems Of Fire Planning

As the core technology of unmanned aerial vehicle(UAV),route planning has been deeply studied by scholars at home and abroad,however,any route planning algorithm still have some adaptation problems due to performance constraints and task complexity.There are many kinds of attack unmanned aerial vehicles with complex functions in modern warfare,it is very difficult to make the military campaign in actual combat.In the field of military operations field,the research results about tactical planning are less.Thus it is of great significance to propose a fast and optimal route planning algorithm,and a deep research on tactical level planning has studied in this dissertation,eventually a kind of fire planning process with the main problems is proposed.The route planning algorithm has been used in actual system,many simulation experiments about planning process have been conducted.The research results of this dissertation are described as follows:First,the shortest path in any distance based on Dubins method is derived and proved,and the shortest path theory of Dubins is improved.The Dubins mathematical model in 2D plane is introduced and the derivation method of Dubins shortest path method with longer distance between two points is described in detail.Then the deficiencies in the method are discussed,and the Dubins shortest path results with arbitrary distance between two adjacent points is deduced and proved,eventually the test results further verify the accuracy of the conclusion.Second,the algorithm fusion with a genetic algorithm and Dubins shortest path is proposed to find the optimal turning angle.The basic turn model of the algorithm is constructed according to the extension way of turning point in trajectory planning algorithm based on vector.Then,to solve the problem that the current optimal turning direction cannot be determined,the optimal model based on turning angle is established,and the genetic algorithm is used to solve the model.Third,for the bending problem in the original trajectory planning algorithm based on vector,the improved path planning algorithm based on vector is proposed in this dissertation.The original path planning algorithm based on vector,A* algorithm and our proposed algorithm were compared in the experiment,and the results shown that the improved algorithm can not only solve the problems existing in the original algorithm,but also have shorter computation time.Fourth,To verify the rationality of the process,this paper makes a deep research and forms the main planning process on the fire planning.The hierarchical theory is adopted to research the fire planning system process.The damage model is established to calculate the damage degree of the target from the angle of probability calculation.Combined with the actual situation of combat,a genetic algorithm with constraints is proposed to solve the problem of position planning model.Then the improved route planning algorithm is adopted to produce the feasible trajectory,thereafter the pipeline model,the time optimization model and trajectory correction model are proposed to solve the complex collaborative planning problems.Finally the experimental verification is conducted to the system.