Research On Dynamic Path Planning Of Uav Under Sudden Threat

With the development of technology,UAVs have received widespread attention in various fields.As the core technology of UAVs,path planning has always been the focus of scholars at home and abroad.Therefore,the research on the dynamic path planning of UAV has important theoretical value and practical significance.The research content of this article is mainly three aspects:The problem of dynamic path planning for UAV under static sudden threat is studied.First,the A* algorithm is used to generate a global optimal path and smooth it.After encountering the sudden threat,a candidate path cluster is obtained based on the principle of cubic spline second-order continuity and adjustment formula.Then,cost functions of security,smoothness,and coherence are established.Finally,these cost functions are weighted and summed to obtain the total cost function,and then the optimal path is obtained.The problem of dynamic path planning of UAV under the sudden threat of mobile is studied.The motion model of UAV and dynamic sudden threat is established,and then the dynamic safety cost function is obtained.The total cost function with four cost functions is further established,and the optimal path is obtained based on the total cost function.Simulations show the algorithm proposed in this paper has faster operation time and smoother path by comparing with the improved neural network algorithm.The rendezvous problem of multi-UAV and the research on dynamic path planning of multi-UAV obstacle avoidance are studied.First,the avoidance function and directional evolution algorithm are used to perform collision-free and smooth processing on multiple independent paths generated by the Voronoi diagram algorithm,and a simultaneous arrival model is established.Then,the total cost function of the rendezvous problem of multi-UAV obstacle avoidance dynamic path planning is constructed,and get the optimal candidate paths.Consider whether there are collisions between multiple optimal candidate paths or between them and other original paths.If a collision occurs,the final optimal path is selected using the principle of roulette and exclusion mechanism.Finally,simulations verify the rationality of the proposed algorithm.