Research On The UAV’s Path Planning Strategy And Simulation

UAV’s path planning strategy constitutes an important part of its own missionplanning system and is a key factor to achieve the autonomous flight; meanwhile, thecombination of UAV’s simulation platform and visualized three-dimensional flightsimulation software, realizes the quality assessment for planned trajectory andguarantees to speed up the progress of theoretical research and practical R&D. Tothese two major problems, this dissertation does the corresponding research.Considering the path planning to different threats and environment, it proposesthe UAV’s path planning strategy which mainly includes three aspects: global staticpath planning, local static path planning and local dynamic path planning; therefore, itcould take the appropriate strategy to plan UAV’s flight route in different situation.Then, based on the comprehensive understanding of the popular optimization searchalgorithm and the characteristic on the UAV path planning, it puts forward animproved particle swarm optimization algorithm, which adds the chaotic disturbancemechanism to the traditional particle swarm optimization and pushed the search out oflocal optimal solution, finally reach the global optimal solution; on the other hand, forthe need of accuracy and fast on the path planning in different strategy, it raises avariable structure search algorithm to improve the effectiveness of the flight pathplanning algorithm. Finally, for the moving obstacles in the local dynamic pathplanning strategy, Kalman filter algorithm is designed to forecast their mobiletrajectory.In the simulation, it is first to use Matlab to test the improved optimization searchalgorithm in the three path planning strategies, they have shown the excellentperformance; secondly, based on the two-dimensional PTZ and DSP controller, thesimulation platform of flight attitude is built, hence, it could track the flight trajectoryby controlling its pith angle and roll angle; finally, connect the UAV’s simulationplatform with the host computer, and it could simulate the UAV flight in a realenvironment through the visualized three-dimensional flight simulation software.