Research On Area Coverage Path Planning For Multi-LAVs

Aiming the current demand in path planning of loitering aerial vehicle(LAV) area coverage, path planning method of area coverage of multi-LAVs is proposed. Numerical simulation and HILS are accomplished based on designed trajectories. After a survey of existing reference conducted and the characteristics of the LAV work process analyzed briefly, the following research aspects are mainly carried out.Firstly, path planning method of single LAV is researched, which is the precondition of multi-LAVs area coverage. In order to improve the rapid response capability of LAV in battle field, fast path planning method of single LAV need to be researched, considering the highly nonlinear and strongly coupled dynamic features of LAV. Because of having better performance and more young than counterparts, enhanced fireworks algorithm(EFWA) is adopt to solve the trajectory design problem. To further reduce the time consumption, prior knowledge of the known space are made full use of to determine optimization space of EFWA. It was found that this method accomplished the designed trajectory which could trace moving targets real-timely.Secondly, path planning methods of area coverage of multi-LAVs are proposed. In this paper, in order to cover the circular combat zone, three key research aspects are focused on. First is that, the multi-LAVs area coverage “Z” type path planning is accomplished, through model of coverage path issue being built, and this problem is solved by multi-objective particle swarm optimization(MOPSO); second is that, then the path taken into account the various objectives is obtained; the second is that, the multi-LAVs area coverage “heart” type path planning is designed, LAVs complete coverage task at approximate level flight attitude tracking path planning; third is that, in the random initial flight direction condition during involving into the combat zone, the multi-LAVs area coverage path planning is accomplished, taking into account being operational to cover the border region and being readily to track the trajectory and control in offline, path of single LAV is designed, modeling of coverage path issue in this condition is built, and this problem is solved by multi-objective genetic algorithm(MOGA), then the path taking into account the various objectives is obtained. Finally, LAV path tracking control HILS for a laboratory environment is built. LAV path tracking control semi-physical simulation is accomplished. The experiment is simulated to obtain flight path and path tracking performance. The results show that the LAV’s path under different conditions is readily to facilitate the LAV path tracking control.