Research And Implementation Of Real-time Route Planning Algorithm For Multi-UAV

Unmanned Aerial Vehicles play a significant role in data collection and target reconnaissance.In modern warfare,they are widely used by more and more countries.Recently,UAV route planning technology has become one of the hot spots and difficulties in the research,an accurate path can effectively increase the mission success rate.Although path planning for fixed-wing UAVs is similar to that for traditional mobile robots,the previous work has not been taken special kinematic characteristics of UAVs into account,such as the minimum turning radius.Therefore,such a route is not flyable for a fixed-wing UAV.In addition,in the current study,the design of the flyable route is based on the geometric characteristics of the route,such as continuous curvature,which does not aim at the control law or the movement law of the UAVs to design the route.From the perspective of the control laws of a fixed-wing UAV,a route planning algorithm based on the heading control law is proposed,taking the constraints closely related to the a fixed-wing UAV into account,which can plan a flyable route.Multiple fixed-wing UAVs are then teamed up and a flyable route is planned for each one in the formation to achieve multi-UAV route planning,and route planning algorithm for Multiple UAVs is applied to the development of mission planning system software.The reseach work of this thesis is as follows:Firstly,the research background,significance and research status of route planning algorithm for UAVs are introduced in brief,and the main content and organization is illstrated.Secondly,the route planning algorithm based on the heading control law for UAVs is proposed for the problem of flyable route.The algorithm mainly includes the following contents:(1)The assumptions,restrictions and design criteria involved in the route planning algorithm are described;(2)The environment of the UAVs is modeled and the establishment of a hybrid coordinate system is introduced;(3)Under the premise of satisfying the restrictive conditions and design criteria,the design of turning and obstacle avoidance based on the heading control law is studied to plan a flyable route for the UAVs;(4)The static route planning algorithm and the dynamic route planning algorithm are given.Then,the horizontal formation and the vertical formation used in the route planning is introduced,and the method of formation transformation based on the heading control law is analyzed,which ensured that the UAV in the formation will not collide with each other during the formation transformation process.Finally,a mission planning system software is developed,and the engineering implementation of the route planning algorithm based on the heading control law is carried out to further verify the validity and reliability of the route planning algorithm for formation UAVs.