The Path Planning And Simulation Research Of Military Unmanned Vehicle

Military unmanned vehicle is a kind of robotic system used to perform military tasks with capabilities of reconnaissance, transport, searching, rescuing and firepower attacking. In order to achieve safe driving and perform kinds of military tasks accurately and reliably, the premise is that unmanned vehicle is able to plan a safe, reliable driving path from the starting point to the target point, which can avoid obstacles. Various harsh environments in the field fighting give a great impact on passing performance and security of unmanned vehicle. And it requests unmanned vehicles have sustained combat capabilities in modern war. So it requires that the path planning system of unmanned vehicle can make an accurate assessment of the passing performance of the complex environment and can work out a feasible path to meet mission requirements, at the same time consum the energy as little as possible.It is studied in this paper that the artificial potential field method applied to the local path planning problem for unmanned vehicles.The impact of the four key algorithm parameters on the algorithm performance is discussed. Through the analysis of simulation result, it got some adjustment principle of algorithm parameters.The study problem of three-dimensional path planning based on minimum energy is defined. The energy consumption expression of unmanned vehicle is derived, and the three-dimensional environment is modeled through digitization and rasterization. First, the minimum energy path planning problem in three-dimensional environment is converted to solve the shortest path planning problem in two-dimensional environment. Second, three-dimensional terrain analysis is carried out based on the grid map model and the initial paths population for genetic optimization is produced through heuristic path search based on terrain judgment. Then make a design of genetic operator and fitness function. The three-dimensional path planning method based on minimum energy presented in this paper has been proved through simulation.Based on the theory study, the path panning simulation system of unmanned vehicle is built, Matlab GUI is applied to design and develop the graphical user interface of the system.Through theories analyses and simulation studies, the three-dimensional path planning method based on minimum energy presented in this paper is able to plan a safe, reliable driving path from the starting point to the target point, which consumes energy as little as possible for unmanned vehicle travels in field environment.