Research On Integrated Route Planning Method Of UAV Obstacle-avoidance Penetration And Cooperative Search

Penetration and search of unknown regions is one of the typical tasks of unmanned aerial vehicle(UAV).The task process includes two stages: fast penetration under complex environment and effective coverage in mission area.In order to improve the efficiency of task,the integrated planning method of penetration and collaborative search for UAV is studied in this paper,which is restricted by complex penetration environment,UAV maneuver capability,and path coupling problem of penetration and search.The main research contents are as follows:1)Modeling of environment objects and behavior rules based on high level architecture.Using the classification method of high level architecture,the basic elements,physical meaning and attribute characteristics of each object are established.Aiming at the complex environment object of penetration and search,as well as the different requirements of threat and obstacle environment for UAV penetration,a UAV environment model with special algorithm adaptability is established.A discrete behavior model is established,aiming at the maneuverability constraints of UAV and the discrete environment model of UAV.2)Penetration path and route planning of unmanned aerial vehicle based on hybrid algorithm.According to task requirements and characteristics of the environment object,put forward three kinds of hybrid penetration planning algorithm for avoiding the defects of single algorithm,and finally get the penetration path planning method which is suitable for fixed-wing UAV.According to the UAV turning constraints,it design the hybrid method of Rapid-exploring Random Tree(RRT)and Dubins curve;For different requirements of threats and obstacles,a hybrid method of RRT and potential function is established;in view of the complex environment and the defects of potential function,the water filling potential field algorithm for penetration path planning is established.3)Research on coverage search method based on autonomous guide algorithm.For the typical geometry method of coverage planning is easy to be captured and predicted,and it also can't deal with the complicated and irregular search area.The self-guiding strategy method of search,including multi-step greedy algorithm,environment-strategy knowledge base map method and the potential function method are proposed for that.Finally,simulations show that the search obtain results of high efficiency and low redundancy.4)Research on integrated mission planning system of penetration search based on genetic coding.For the handover,cohesion and overall coupling problem within different stages of UAV,a method based on genetic coding is proposed.The penetration mission route planning method and the covering-search planning method are taken as the subroutines,thought of using hybrid genetic encoding and pattern combination optimization,realize the complete integration of coupled task planning process.And finally,the simulation verification of multi region search task is carried out.