Research On Path Planning For Uavs Based On Directional Evolution Algorithm

The Unmanned Aerial Vehicle(UAV),a symbol of national military power in air combat,will play an increasingly important role in guarding national airspace security.As the core of UAVs mission planning system,the path planning obviously has more important status.Therefore,there is extremely important application value and theoretical significance to guidance of the military action to delve into path planning for UAVs.Based on characteristics of existing evolution algorithms applied to path planning,directional evolution algorithm is put forward and the path planning for UAVs based on this algorithm is researched in this paper.Firstly,aiming at the obstacle avoidance problem of UAVs path planning,the function-method is adopted to establish the threats corresponding to real terrain,and the cost function of path is created.Besides,the rotated coordinate system is introduced and several directional evolution operators are designed.Compared with existing evolution algorithms,directional evolution algorithm not only can successfully make the path avoid the threat,but can effectively speed up the convergence speed of the whole path and improve the success rate of searching optimal path.Secondly,in view of the cooperative path planning problem of multi-UAV,a path cost model for multi-UAV against enemy targets is established,and the revenue function and the attack loss function are created.Further more,the objective function of multi-UAV attacking enemy targets is built,and cooperative optimal paths are planned based on directional evolution algorithm.Finally,the problem of multi-UAV cooperative path planning under pop-up threat is studied.Based on the game theory,the multi-UAV game theoretical model is built and strategy sets of both sides are given,then the payoff matrix is created.According to the Nash equilibrium theory,the best attack strategy is determined so that lager attack gain and damage effectiveness are achieved.