Study On Route Planning Method Of Unmanned Aerial Vehicle Under Sudden Threat

UAV path planning technology is one of the key technologies of UAV low altitude penetration mission.Excellent path planning model can not only improve the completion rate of penetration mission,but also effectively reduce the risk during a mission.However,the environmental information may not be overall before UAV executing a mission,and there may be a sudden threat during UAV executing a mission,so the global path model before executing a mission is difficult to ensure the safety of UAV flight.Therefore,it is very important to study the path planning method of UAV under sudden threat in theory and practice.This paper uses the random function method to simulate terrains,ground objects and threats to establish the environment model of UAV path planning.Firstly,the condition of no sudden threat,it considers UAV self constraints and static environment constraints to design an UAV global path planning method based on A* algorithm.Secondly,when the sudden threat is an antiaircraft artillery,this paper establishes the threat model of artillery and analyzes its impact on the global path to design the UAV local path planning method considering UAV self constraint and the antiaircraft artillery threat constraints.Finally,when the sudden threat is a fighter,this paper puts forward the method of maneuver prediction of Fighter based on Dynamic Bayesian networks and the method of predicting trajectory.And it real time analyzes the influence of mobile fighter for the global path to design the UAV local path planning method considering UAV self constraint and the fighter threat constraints.Based on the above theoretical basis,the simulation experiments of the global path planning of UAV and the local plan planning of the artillery and the fighter are carried out through the Matlab2013 a and VS2010 platform.The simulation results show that the above methods can not only effectively plan the global path of UAV in static environment,but also quickly and real time plan the local path under the condition of the antiaircraft artillery and the fighter.