| With the development of technology,in recent years,the aircraft has been developing towards the direction of intelligence and miniaturization.Bionic flapping wing micro air vehicle(FWMAV),as a hot spot in the field of aircraft research in recent years,has the characteristics of light weight,small size,strong mobility and high concealment.The excellent bionic performance makes it have a wide range of application scenarios.Many researchers have also carried out a lot of research work around the FWMAV.FWMAV’s research involves a wide range of disciplines,including mechanics,electronics,control and artificial intelligence.The goal is to design such a multidisciplinary flapping wing aircraft capable of autonomous flight.As a key technology of UAV autonomous flight,path planning plays an important role in realizing the ultimate autonomous flight of FWMAV and accomplishing specific tasks.However,the current research on FWMAV mainly focuses on the design of mechanical structure and the development of control system,and the related research on the path planning of FWMAV has not been fully carried out.Based on this background,the following studies are carried out in this thesis.Firstly,in view of the constraints required for the path planning of the FWMAV,the relevant constraint models of the FWMAV were established,including the maximum flight distance constraint,the minimum turning radius constraint,the flight height constraint and the minimum step size constraint.At the same time,considering the actual flight environment,the threat model of the environment space where the FWMAV is located is established,which mainly includes the natural environment threat,radar monitoring threat and weapon threat.According to the performance constraint and threat model,the comprehensive cost model of path planning is established,and the path planning is studied based on the comprehensive cost model in the following thesis.Secondly,the problem of global path planning for FWMAV is studied.Global path planning is carried out in a completely known environment space for FWMAV.In this thesis,the global path planning is divided into two problems: the path planning problem based on fixed high-flying flight and the three-dimensional path planning problem.Fixed altitude flight is a special case of FWMAV flight,which can be simplified to a twodimensional plane path planning problem,the thesis uses A~* algorithm to solve the problem.In this thesis,combined with the comprehensive cost model of flapping wing micro air vehicle established above,the cost function of A~* algorithm is designed,so that the optimal path obtained through A~* algorithm can meet the constraints of flapping wing micro air vehicle itself.Path planning in three-dimensional environment mainly solves the path planning problem of FWMAV in ordinary flight.In this thesis,the ant colony algorithm(ACO)is chosen for research.Firstly,combining with the threat constraints established above,the environmental space in accordance with the path planning of the flapping wing micro air vehicle in this thesis is established.Then,combining the performance constraints of the FWMAV itself,the code was written to carry out simulation experiment analysis,and the flight path under the three-dimensional environment was obtained.Finally,based on the actual application scenarios,the local path planning problem is studied.FWMAV in actual flight environment will encounter not only static obstacles,will also meet dynamic obstacles.So,FWMAV must be able to deal with dynamic obstacles in the environment,the dynamic problem of path planning also needs to be effectively solved.Therefore,based on the research foundation of global path planning,this thesis studies the path planning problem in the dynamic environment of FWMAV by improving ant colony algorithm to meet the practical application scenarios.Simulation results show that the proposed method can solve the path planning problem in simple dynamic environment. |
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