Research On Indoor MUAV Path Planning

Path planning is one of the key technologies for UAV autonomous navigation. According to theautonomous navigation requirement of the indoor Micro Unmanned Aerial Vehicle (MUAV), the pathplanning problem for the indoor MUAV is studied based on the analysis of the current status and keytechnologies of UAV path planning.By incorporating the existing modeling methods for path planning, a model for the indoorMUAV path planning problem is established. The three-dimensional planning space is discretized intoseveral homogeneous grids while regarding each grid as a basic unit of path planning, and regardingthe center of each grid as the tracking point of MUAV. The result of path planning is depicted by aseries of tracking point.After the basic model of path planning has been established, the global path planning problem isresearched firstly based on Ant Colony Optimization (ACO) algorithm. The model of conductingglobal path planning using ACO algorithm is established. To improve the efficiency, adaptive abilityand robustness of the algorithm, a TBMRACO algorithm is presented. To tackle the inherent problemof basic Ant Colony algorithm, some modifications are suggested in this algorithm on path selecting,pheromone updating and ant rollback. Meanwhile, in order to get the best performance, theimportance of each parameter in the algorithm is analyzed theoretically, and the optimal setting ofeach parameter is gain through experiments.To improve the efficiency of path planning, another famous path planning algorithm, A*algorithm, is researched. The global path planning is fulfilled based on A*algorithm. After that, inorder to apply the A*algorithm in real-time planning field, the Memoryless A*algorithm is proposed.By using the idea of constructing heuristic function, the Memoryless A*algorithm build a single-stepplanning model. Through the execution of this model based on the information offered by on-boardsensors, real-time path deciding and guiding is successfully realized.At last, an emulation platform to simulate the indoor MUAV path planning is designed. Theenvironment modeling, global path planning and real-time path planning scheme presented in thispaper was realized while each as a sub-module of this platform. And all the algorithm is verifiedbased on the platform.