The Research Of Real-time Path Planning Based On Velocity Vector Field

With the increasing military value of UAV (Unmanned Aerial Vehicle), the UAV will play a keyrole in future war, so the online real-time route planning technology is urgently needed to cope withthe dynamic battlefield environment. A real-time path planning technology based on velocity vectorfield which is suitable for two-dimensional local environment is presented in this paper. The maincontributions are summarized as follows:(1)The environment model is established based on the properties of special area such as radar,mountains etc. The threats produce repulsive field and guide field, the target point produces attractivefield. Then the driven mechanism of velocity vector field is constructed in order to realize the routeplanning for UAV.(2) The local trap caused by losing some environment information is studied byanalyzing the mechanism, all potential local traps are identified, and the roadmap guiding method isadopted to get out of the trap.(3) In order to ensure the route in the flight envelope of UAV,detecting-step method is used to meet the constraints of maneuver capability.(4)The updatingmechanism of local environment is used in algorithm to deal with the dynamic environment.The algorithm is implemented in Windows OS which is divided into initialization module,updating environment module, local trap module and generating route module. The simulation resultsshow that the real-time path planning technology based on velocity vector field is effective andfeasible in real-time route planning for UAV, and the algorithm can satisfy real-time planning well.