Research Of Path Planning And Monitoring System For Multi-Rotor UAV

Multi-rotor UAV(unmanned aerial vehicle) has advantages of hovering capability, high maneuverability, simple body structure, low cost and high security. As a result, it can be widely used in military reconnaissance, meteorological exploration, disaster relief, pipeline probe and other aspects, it has great practical value and broad prospects. Depth study in critical issues involved in path planning and monitoring system is carried out, the goal is to develop a set of ground monitoring software which has the function of path planning, condition monitoring and visual display. Learned from renowned research results and combined with the current mainstream technologies, the research process is determined. At first, use terrain simulating and threat modeling to build flight environment. Then, implement path planning based on sparse A* search algorithm and OLPSO(orthogonal learning particle swarm optimization) respectively. At the end, design the ground monitoring system with modular thought.In the path planning, sparse A* search algorithm which is suitable for three-dimensional path planning is proposed. The algorithm can effectively reduce the search space by considering some flight restrictions and threat information in the design. After the reasonable design of cost function, the simulation results of path planning based on sparse A* search algorithm are given. After analyzing and comparing the global PSO and the local PSO, improved strategies which adopt orthogonal design to improve the stability and convergence rate are proposed. Likewise, the simulation results of path planning based on OLPSO are given.On the software implementation, in order to improve the flexibility and compatibility of the system, the interface of ground monitoring system based on MFC is built. Communication control module, data display module, command control module, data storage module and path planning module are included in the interface of ground monitoring system. In the path planning module, Google map API is adopted to realize map locations, meanwhile, programming algorithm run in MATLAB is encapsulated into COM to realize path computing. Through UDP, FlightGear and the interface of ground monitoring system can exchange data to realize 3D visual display. Been tested, ground monitoring system has path planning, condition monitoring.visual display and other functions.