Research And Design Of Safe Pipelines For UAV

With the strong demand for UAV operation in various industries,the flight environment of UAV becomes more dangerous and there are more uncertain threat restrictions,and the factors affecting the flight safety of UAV become more complex.Therefore,how to ensure the safety of the unmanned aerial vehicle from the starting point to the target point has become an important index for the safe flight of the unmanned aerial vehicle.After analyzing the development status of UAV and the demands of safe flight,a concept of UAV safe pipeline is proposed and studied on the basis of track planning.Firstly,Taking Quadrotor UAV as the research object,the UAV dynamic model and related assumptions were analyzed and elaborated,through the UAV test flight experiment,obtain the error data of the UAV flight track and the planned track in the vertical height and horizontal distance,gauss distribution fitting is performed on the data to obtain the distribution rule of errors and probability density function,it is used in the ellipsoid safe pipeline model which is one of the three safe passage models proposed in this paper.Then several commonly used UAV track planning algorithms are compared,the ant colony algorithm is selected for subsequent research,and the basic ant colony algorithm and the improved elite ant colony algorithm are compared in two-dimensional space.The simulation results show that the improved elite ant colony algorithm has better output track and convergence.Then the real physical space is converted into a three-dimensional digital map space,in this three-dimensional space,the improved algorithm is used to simulate and demonstrate the path planning,and the output track is smoothed based on the B-spline curve to obtain the optimal smooth track from the starting point to the target point.This paper carried out an experimental flight on the above content.The experimental results show that the ellipsoid UAV safety pipeline based on the improved elite ant colony algorithm is reliable,which further verifies the correctness and feasibility of the relevant research and technical routes in this paper.