Route Planning Technology Research Of Unmanned Aerial Vehicle (uav) In Complex Conditions

The route planning in complicated environment such as airborne, real time and3-D environment is a difficult point, now. There is serious contradiction between theairborne calculate resource and the real time demand, while the route planning in3-D environment corresponds for the high-dimensional space optimizing problem.Therefore, this paper puts forward a complicated environment route planning methodthat combine others’ algorithm with the D*algorithm who has a great quadraticprogramming characteristics.This article mainly discusses three kinds of complex environment; they are themoving object, the target unknown and the threat unknown, to speak of threatunknown type is discussed in3-D environment.1) When planning route for moving targets, this paper puts forward combiningKFAwith D*algorithm, and uses KFAto predict the location of the goal in next time;2) When discussing the route planning that the target is unknown, the AHP isintroduced to determine whether a threat can be considered as the goal of this action;3) When discussing the route planning that the threat is unknown, paperintroduces the D-S evidence synthesis theory algorithm to determine the strength ofthose threats.The essence of these algorithm is to make the opaque environmental transparent,and to make the complex environment simple, and then call the D*algorithm to planroute. Several kinds of corresponding route planning methods and specific steps arestudied in paper. Finally, the numerical simulation and verification confirm theeffectiveness of several methods.