Three-Dimensional Path Planning Method And Visual Simulation Of Four-rotor UAV

The four-rotor UAV can be widely used to perform different kinds of missions,such as military reconnaissance,alert warning,traffic management,as well as post-disaster search and rescue,disaster relief,forest fire prevention,and photographic photography services for media or entertainment enthusiasts.At present,many scholars from home and abroad have been attracted by the four-rotor UAV.And relevant researh has been carried out continuously.This paper takes the QBall quadrotor UAV as the object,and studies on the three-dimensional path planning problem,path tracking control problem and its visual simulation of the four-rotor UAV.First of all,in the aspect of 3D path planning,enlarging the original two-dimensional map to the three-dimensional map,the square raster map analysis method used in the original map analysis is changed to the polygon raster map analysis method,so the three-dimensional terrain can be analyzed and the computational efficiency of the algorithm can be improved.By analyzing the path points of the three-dimensional terrain and calculating the distance between different path points the in the way of A* algorithm,the basic data can be provided for the subsequent path planning.Through in-depth analysis of three quadrotor UAV path planning schemes,K-means clustering algorithm is used to transform MTSP problem and mutated MTSP problem into standard TSP problem for TSP problem,MTSP problem and mutated MTSP problem.In this way,solution to the path will be simplified.On the base of it,an improved ant colony algorithm is proposed to solve the multi-unmanned multi-start and multi-target path planning problems,which improving the iterative efficiency and shortening the path planning time.Secondly,the QBall quadrotor UAV model is optimized,and the error analysis system of QBall quadrotor UAV X channel,Y channel and Z channel is established.A robust method is proposed for the parameter uncertainty in the model.H∞ tracking control method is a robust H∞ feedback controller,which is designed to suppress and track the reference trajectory for X channel,Y channel and Z channel.According to Lyapunov stability theory,the LMI sufficient condition can be concluded which stablizes the closed-loop system of three channels of quadrotor UAV and satisfies the H∞ performance index.Finally,a visual simulation platform has been built.Based on the above-mentioned 3D path planning and path tracking control,Unity 3D Vision and Matlab numerical simulation are combined to create virtualized 3D QBall quadrotor UAV and flight environment of 3D terrainwith Unity 3D development tools.At the same time,the data communication module between Unity 3D and Matlab is developed by using dynamic link library dll,which realizes the 3D path planning of the four-rotor UAV and the 3D visual simulation of the whole process of tracking control.