UAV Dynamic Path Planning Based On Intelligent Optimization Algorithm

With the development of automation technology,modern aviation techonology has been improved rapidly,which also promotes the application of UAV in military and civil fields.As the key technology of UAV mission planning,path planning techonology has always been a research hotspot int the field of UAV.UAV path planning is to plan an optimal flight path for UAV to avoid space threats(dynamic threats,static threats etc)in the flight space.I study the path planning of UAV from three aspects.Fitstly,the powerful 3D rendering funciton of OpenGL is used to simulate the 3D space.Besides,according to the characteristics of UAV path planning,the UAV path planning is divided into static path planning and dynamic path planning.In this paper,UAV static path planning refers to planning an optimal path(shortest path,least performance loss,etc.)which can avoid the space static threat from the starting point to the end point when the UAV flight environment threat is known.The dynamic path planning of UAV refers to the realtime local adjustment of the static path in the face of the sudden threat(dynamic threat)on the premisse that the static path of UAV has been obtained,so as to obtain a new path that can avoid the dynamic threat.In this paper,the regular grid model of digital elevation model is used as the terrain representation.The model uses the same grid element to represent different terrains,which has simple data structure and is convenient for computer processing.The static flight path planning of UAV is based on GA.A new polulation initialization method based on dichotomy is proposed.GA's Crossover is improved to avoid genetic degradation.GA's Mutation is improved to avoid premature.The dynamic path plan is replan path when there is threat which affects the UAV flight road.The start site of replan path is UAV's site,the end of replan path is destination which is preseted.The dynamic path plan algorithm is based on AS.It redesigns A*'s cost function.the simulation software of uav flight path planning is designed based on Qt by C++ programming,and the simulation experiments of uav static flight path planning and uav dynamic flight path planning are carried out respectively based on this simulation software.