UAV Path Planning And The Vertification On Simulation Platform

In recent years,UAV has developed rapidly and has been widely used in military and civilian fields.With the increasingly complexity of flight environment,the technology of UAV path planning has become an important way to perform the task,and has a great research significance.In this paper,we study the technology of UAV path planning by theory research,system modeling and simulation experiment.Our goal is to create feasible paths for each UAV to meet the task requirements.The main works and innovations of this paper are as follows:(1)For the problem of UAV path planning,a mathematical model has been established.Firstly,we modeled the UAV and derived its linear motion and angular motion equation.Then,the corresponding mathematical description of the environmental information was given,and the constraint conditions and expressions were presented as well,which could provide the guarantee for the simulation of the following path planning.(2)For the local minimum problem existing in the traditional method,we proposed an improved artificial potential field method to achieve single UAV path planning in obstacle environment by improving the repulsive potential field function and the repulsion direction.And based on the formation keeping method combining leader-follower and artificial potential field method,a strategy called “repulsion transfer” was proposed to improve the wingman’s ability to avoid obstacles,to achieve multi-UAV path planning in obstacle environment.(3)We applied the navigation function to UAV path planning,and obtained ide al navigation function by adjusting the control parameters,to achieve single UAV path planning in obstacle environment.Then,we achieved multi-UAV path planning by the formation keeping method,which was the combination of leader-follower and artificial potential field method.(4)For the path planning in the UAV search task,considering the factors such as the setup time of UAV,the UAV searching problem was converted to vehicle routing problem,and the quantity of UAV would be calculated automaticly.And then,the algorithm would assign task to each UAV reasonably and plan its path properly.(5)In order to futher verify the validity and feasibility of proposed methods,we designed and set up a semi-physical simulation platform composed by Flightgear flight simulator,the Mission Planner ground station,multi-UAV monitoring ground station,APM flight controller and XBee wireless communication module.Based on the test results on the platform and some actual flight,the effectiveness of our algorithms was verified.