The Research Of Aircraft Obstacle Avoidance And Route Planning

Route planning for aircraft refer to find the optimal flight path from the starting point to the target point with meeting certain performance metrics. Route planning for aircraft is a key technology of intelligent autonomous.It is of great significance both in theory and practical application.The main research of the thesis on UAV flight path planning technology, The thesis mainly focuses on the following three points as followed:(1) modeling of track space planning;(2) the path planning algorithm;(3) the threat on avoidance technique.Firstly, the thesis introduced the background of path planning research.and the research of current situation and the development trend of domestic and foreign were reviewed. Then, the basic UAV route planning, including the track, establishment of environmental models such as: digital terrain model and common threats, unmanned aerial vehicles kinematics constraint model and track evaluation has been introduced. Secondly, the typical path planning algorithm has been compared. The sparse A * algorithm and the route planning based on genetic algorithm has been introduced and simulated. On this basis, the paper proposes using data structure in the minimum binary heap and variable step program to improve the A * algorithm. To reduce the slow convergence and precocious characteristics of Genetic Algorithms, A search method proposing to produce outstanding individual has been introduced, and the simulation result has been compared. At last, three-dimensional track avoidance methods were studied. The three-dimensional obstacle avoidance method basing on geometry has been introduced.The simulation has been done to analysis the feasibility of the algorithm.