Research On 3D Coverage Path Planning And Path Following Guidance Of UAV

With the development of UAV technology,its application fields are more and more extensive.There are many tasks in the military and civilian fields that require drones to achieve complete coverage of specific areas,such as regional reconnaissance,under fixed flight conditions,aviation search,etc.The common feature of these tasks is that the UAV flies at a constant speed according to a predetermined trajectory and avoids dangerous areas.The demand for efficient UAV coverage path planning technology and path following guidance technology is increasing.In this paper,the UAV's disaster situation in disaster relief is regarded as the application background.Based on the quintics PH curve,the coverage path planning and path following guidance in the threedimensional environment are studied.All the algorithms are implemented by MATLAB,and the model is built by Simulink.simulation.The main research content includes the following three aspects:Firstly,under the premise of considering occlusion,the coverage model of the drone patrol is established,and the minimum number of viewpoints required to cover the target area is solved as the track point.Two points are selected from the optimal viewpoint set as the starting and ending points,and the length of the PH-spline curve is segmented as the optimization target.The genetic algorithm is used to solve the TSP path from the starting point to the ending point,and the obtained segment is segmented 5 order.The PH curve serves as a desired trajectory for the drone to cover the target area.Secondly,establish a model of task assignment,divide the places in the hardest hit area that need to be patrolled into multiple task areas,and assign task assignments by direct task assignment or particle swarm optimization algorithm,and assign the patrol tasks of each task area to the corresponding none.Man-machine,get the flight route of each drone.Thirdly,establish the error model of the UAV path following,based on the vector field design path following the guided sliding mode controller and the obstacle avoidance controller,to ensure that the drone can bypass the obstacle in the presence of gusted wind and other bounded interference.The no-fly zone of the object and track the planned curve trajectory.