Reserach On Path Planning Of Large UAV Based On Dubins Algorithm

With the development of science and technology,the application of drones in military and civilian fields has become more and more important.The path of UAV as the core technology of drones has also received widespread attention from scholars of various countries.In practical applications,due to the many types of unmanned aerial vehicles,the application scenarios are very different,UAV constraints are many and the flight environment is very complex,in order to ensure that UAV can cope with various situations and complete the task successfully,we need to study on the path planning of UAV.This paper takes a certain type of large fixed-wing UAV as the research object to study the path planning problem of the UAV.On the one hand,based on the Dubins algorithm,the optimal path of the UAV under various constraints and working conditions Generate research questions.On the other hand,study the guidance and path tracking control of UAV after generating path.The main work content and results of this article are as follows:(1)Briefly introduce the research background,development status and the specific work of this paper on the path planning problem of unmanned aerial vehicles.Combining the motion characteristics of UAV and the conversion relationship between the coordinate system of UAV,the kinematic equation of the centroid of UAV is established.Analyze the various constraints in UAV route planning problem,including UAV performance constraints and UAV threat constraints,and choose Dubins by comparing the scenarios and advantages and disadvantages of several common UAV route planning algorithms.The algorithm is used as the main algorithm in this paper to study the path planning of UAV.(2)The Dubins algorithm is studied in detail.According to the various working conditions and constraints of the UAV,the shortest distance Dubins path formula in the two-dimensional plane is received.Got a more satisfactory result.(3)The method of generating obstacle avoidance paths for UAV in complex low-altitude environments is studied.Dubins algorithm is usually only applicable to the path generation problem under high-altitude barrier-free conditions,which cannot effectively solve the obstacle constraint problem.Therefore,the Dubins algorithm and The method of combining genetic algorithm in detail to achieve the obstacle avoidance function of the UAV,through theoretical derivation and simulation experiments in Matlab software,proved the correctness and feasibility of the above method.(4)The 3D route generation and three-dimensional path tracking of the UAV are studied.The helix model is introduced to apply the Dubins algorithm in three-dimensional space.According to the formula derivation,it is found that the method has the shortest path in theory,but in practical applications It is difficult to generate the shortest path,so the 3D path planning algorithm used in this article can only generate a sub-optimal 3D path under the conditions of satisfying the position and direction constraints of the UAV,and expand the guidance method tracking used in the previous chapter.The three-dimensional path of the UAV is simulated,and the simulation results prove that the algorithm can reasonably generate a smooth three-dimensional path of the unmanned aerial vehicle and UAV can effectively track the generated path.