Autonomous Obstacle-avoiding Flight Path Planning Of Rotary_wing Uavs

Simbad launcher uavs have the capacity of in_situ take_off and air hovering,its flight impetus is produced by the rotation of the wing. This article introduced its flight characteristics from the flight principle,and the path planning algorithm based on this flight characteristics.Navigation and positioning system can measure the real-time coordinates of simbad launcher uavs, this is the premise of the path planning.The path planning algorithm based on the feature point is process of expansion of obstacles ,establishing obstacles of feature point model and implementing the path planning,using the maximum minimum principle. This paper creatively use contour map data, making the closed contour curve as obstacles, extracting the altitude data and taking out the control experimental elevation outside of the insert value ,then,getting a closed polygon curve. Let the contour curve of flying height of simbad launcher uavs be the interested line ,based on this polygon,with certain length of expansion coefficient (such as half of the uav), build contours equivalent obstacles model.The calculated path of simbad launcher uav using the maximum minimum principle is not necessarily the optimal flight path ,sometimes the uav can fly over the obstacles directly,then,the optimal path of the simbad launcher will be the short of the two.In this paper, the final simbad launcher uav path planning algorithm based on contour model is simulated, and the results show that the algorithm is feasible ,and in complex mountainous terrain has very good use value, but in plain such contours quite gentle terrain using path planning based on contour is restricted.