The Research On Route Planning Method Of UAV

Nowadays,owing to the complicated and abominable flight environment,the UAV(unmanned aerial vehicle)technology has become an increasingly attractive topic in both military and civil fields.The route planning has also become the focus of this study as an important part of unmanned aerial vehicle technology.A terrain model is established,a new algorithm proposed is used to do the path planning in this paper and the feasible route that meets all the planning conditions is calculated.The main contributions of this dissertation are summarized as follows:(1)The research contents of UAV route planning mainly include: analyzing the threat factors of terrain and radar in unmanned aerial vehicle's flight environment.Considering the various constraints of UAV,a two-dimensional model of space environment is established.Based on the constraints of UAV flight conditions and the designation of the planning target,the route planning method of UAV is determined.(2)Select the algorithm of route planning.First,we generate a Voronoi diagram based on the distribution of threat area,which is composed of the initial alternative path set.This algorithm effectively reduces the threat cost of UAV.Then the path analysis network is generated for the Voronoi diagram,and the shortest path search is carried out.The Dijkstra path algorithm avoids the area with great threat,and makes the UAV reach the target point in a shorter way.(3)The path analysis algorithm is selected.Aiming at the deficiency of traditional B spline interpolation method in unmanned aerial vehicle route optimization path,a new fast route optimization algorithm is proposed on the basis of the Voronoi diagram.Firstly,the initial path is generated in the Voronoi graph according to the shortest path algorithm and then the optimization algorithm proposed in this paper is used to update and replace each node in the path,which is not flying angle,and generates an optimal path.The new algorithm solves the problem of the inability of the unmanned aerial vehicle to fly because of the unreasonable initial path,and ensures the optimal cost of the threat and fuel cost in the flight path.The experimental results show that the algorithm satisfies the validity and rationality of route planning.(4)The software of a certain UAV route planning is designed and implemented under the environment of VS2013.The design of the software uses an object oriented idea.After the analysis of the software design requirements,the design of the route planning algorithm,data reading,interface display and other functional modules are designed.This software has realized the poor planning of the path,manual and automatic planning,detailed planning.The experimental results show that the software is practical and can basically meet the practical application requirements of the route planning.