The Research Of Intelligent Mine's Path Planning Algorithm Based On Network Minefield

At present,with the rapid development of the technology of mine clearance and aerial mines,the traditional mine field which can't change and can be easily destroyed has lost or reduced its military function.Under the new situation of the "spear" and "shield" against each other,the traditional minefield has been difficult to meet the need of information war.So there is an urgent need to develop a new network minefield which can self-heal and complete minefield layout independently.The key to realize the function of network minefield is that the mobile mobile intelligent mine reach the designated position in a timely manner.This paper focuses on the technology of mobile mobile intelligent mine path planning.Firstly,the autonomous network minefield research background and significance are analyzed.Meanwhile the network minefield working procedure and key technolo--gies are summarized.Pointing out that intelligent path planning technology is the key to the entire network to achieve the desired function of the minefield.In view of the path planning technology,the research of the path planning algorithm at home and abroad is analyzed.The traditional path planning and control algorithm usually has a high dependence on the complete and comprehensive environmental information and the mathematical model of the controlled object.Because of the complexity of the battlefield environment,so mobile mobile intelligent mine can not fully grasp the environmental information.So the traditional path planning algorithms are difficult to be applied to mobile intelligent mine.In view of the above situation,this paper firstly analyzes the motion mechanism of active mine.By establishing the kinematic and dynamic model of mobile intelligent mine,the mathematical expressions of various basic actions are established.A motion control algorithm based on feedback control is proposed.Using Simwise 4D and Matlab simulation analysis tool to verify the results of game theory models.Aiming at the path planning problem of single active mine,A method of combining with fuzzy control theory and artificial potential field theory is proposed in this paper.In the motion space of mobile intelligent mine,the virtual force field is introduced,and the calculation formula of the repulsive force is established.By analyzing the situation of mobile intelligent mine encountered obstacles and combining with experience,a fuzzy control rules is established.Based on the behavior method,the basic behavior of a series of mobile intelligent mine is designed.On the basis of the behavior competition law,the switching mode of each behavior is established.The feasibility of the algorithm is verified by Netlogo simulation.