Research On The Path Planning Problem For UAV Based On TSP

Unmanned aerial vehicle is the representative equipment of new revolution in military affairs.The flight performance and combat capability of unmanned aerial vehicle increase significantly along with the rapid development of unmanned aerial vehicle technique.The combat tasks it can take become more and more complex.Unmanned aerial vehicle has the ability to perform multiple tasks or reconnaissance and attack more than one target.The problem of how to control the unmanned aerial vehicle to reconnaissance and attack more than one target has received abroad and research.This dissertation focused on the path planning of unmanned aerial vehicle reconnaissancing or attacking more than one target.We take the length of the path as the cost and transform the problem to the minimum cost problem based on the TSP.Then we design the algorithm.The main work and achievements of this dissertation are given below:1.TSPN model of path planning for unmanned aerial vehicle.This dissertation constructs the TSPN model of path planning for unmanned aerial vehicle,proposes the method of decomposition coordination for path planning problem of unmanned aerial vehicle and designs the two layers solving strategy based on simulated annealing algorithm.2.DTSP model of path planning for unmanned aerial vehicle.This dissertation researches the features of Dubins path between two configurations and the computing method of Dubins distance and analyze the characteristics of Dubins distance function.This dissertation constructs the DTSP model of path planning for unmanned aerial vehicle based on Dubins path and solves the model using the two layers solving strategy based on simulated annealing algorithm.3.DTSPN model of path planning for unmanned aerial vehicle.This dissertation constructs the DTSPN model of path planning for unmanned aerial vehicle and solves the model using the two layers solving strategy based on simulated annealing algorithm.4.DTSPN model with no-fly zone of path planning for unmanned aerial vehicle.This dissertation deeply researches the features of Dubins path with no-fly zone and proposes the solving method this path based on these features.This dissertation constructs the DTSPN model with no-fly zone of path planning for unmanned aerial vehicle and designs the two layers solving strategy for this model.