| Unmanned Aerial Vehicle path planning is not only an important technical support to ensure the successful completion of the task, but also a component of the UAV mission planning system. This paper focuses on the two-dimensional static UAV path planning.Aiming at the problems in traditional UAV route planning, this paper firstly introduced the definition of UAV path planning, the application background and the current research status at home and abroad. Then an UAV machine motor performance constraint model and a threat model were established combined with UAV route planning required constraints. Motor performance constraints model includes a minimum turning radius, minimum step length, maximum range, maximum steering angle and maximum pitch angle. The threat model is mainly considered radar, air-missiles and man-made no-fly zone.Secondly, this paper focused on the problem of UAV path planning algorithms, analyzed and compared the advantages and disadvantages of various path planning algorithms, and the A star algorithm was applied to unmanned aircraft route planning. Considering the problems that A* algorithm has large search spaces and long convergence time, this paper reduced the search space and convergence time by improving the algorithm search space.Thirdly, for the endpoint constraint problem in route planning, this article analyzed and compared the advantages and disadvantages of the various methods and proposed bilateral search strategy, reverse dynamic guide models and fly around strategy. For the presence of irregular polygons no-fly zone in route planning, this article proposed no-fly zone boundary polygon collision detection to achieve obstacle avoidance.Finally, two-dimensional static path planning simulation example was given combined with the improved algorithm through MATLAB platform. The simulation results show that the proposed methods can solve the problems with endpoint constraints and polygon-no-fly zone constraints in the route planning application. |
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