Evolutionary Algorithm Based Route Planer For Unmanned Air Vehicles

Path planning becomes a challenging problem in mission plan of UAV for environment is complex and many kinds of constraints should be considered. Becaused of the difficulty of path planning, key parts are studied in detail such as environment model, constraints of UAV and path planner et al. At last, a novel path planner based on evolution algorithm is presented, which can obtain the optimal or feasible path for UAV.After analysing the threats such as terrain,wheather,radar et al in environment, a two-dimensional mathmatical model is constructed for enviroment. The ability constraints of UAV such as maximum flight length and maneuverability and the environment ingredients such as the direction of runway and threats are considered and merged into the evolutionary algorithm to solve.Path planner is designed to solve path planning problem. By combining evolutionary algorithm with UAV path planning, single-population path planner(EPP) and multi-population path planner(MPEPP) are proposed, which can obtain optimal path in complex environment. In order to meet constraints requirement of UAV, real value method and six operators are used to describe, generate and operate the path individual.EPP and MPEPP are realized in the VC++6.0 enviroment. After experiments of EPP and MPEPP in the environment with no threat trap or with threat trap. The results show that EPP and MPEPP can efficiently obtain the path in complex environment which confirm the feasible and validation of the proposed algorithm.Finally the summarization of this thesis and the future research are given.