Research On Path Planning Algorithm Of Unmanned Aerial Vehicle In Complex Environment

Nowadays,unmanned aerial vehicles can take the place of man-made weapons in some combat scenarios and undertake specific reconnaissance and attack tasks.When carrying out a mission in a complex environment,a realistic and feasible battlefield environment,as the premise and basis of the task,can provide real and reliable information for the following track planning algorithm.The simulation experiment of the track planning algorithm designed on this basis can provide better reference and inspiration for the real UAV operation.Based on the full consideration of the threat model,this paper takes the set tasks as the goal,considers the performance characteristics of the UAV itself,mainly studies the selection of threat parameters,and the optimization design of the track planning algorithm for the single UAV reconnaissance/strike task under multiple threats.The effectiveness of the algorithm is verified by simulation and analysis of the optimization algorithm for unmanned flight path planning in multi-threat environment.The main contents of this study are as follows:(1)A threat parameter selection method based on expert group evaluation and fuzzy logic optimization of threat characteristics is presented.Based on this method,a digital threat map in multi-threat environment is designed by extending Voronoi map.The first is to clarify the components of various elements in a complex environment,and to classify and discuss the various threats faced by the UAV mission.Then,in order to better reflect the threat capability of the threat source,a multi-parameter fuzzy optimization method based on expert group evaluation and threat capability is proposed.The fuzzy optimization method is applied to all kinds of threat sources that may be involved in the flight path planning of unmanned aerial vehicle,so that the final threat model is more reliable and conforms to the actual threat capability.(2)Based on the given multi-threat environment,an improved Dijkstra-based trajectory planning algorithm with multi-objective cost constraints formed by known threats and fuel costs is proposed to perform the static planning method for single-aircraft reconnaissance tasks.The Dijkstra algorithm,which is currently used to solve the optimal path between two points,is studied in depth,and the design is improved by establishing a multi-objective constrained cost function in accordance with the designed multi-threat environment.The key parameters that affect the performance of the algorithm are verified by simulation.The simulation results verify that the Dijkstra algorithm with multiconstraint cost function can effectively plan the path with the lowest threat cost under multi-constraint conditions for unmanned aerial vehicles performing reconnaissance missions in complex environments with multiple threat sources.(3)Based on the given multi-threat environment,an improved Dijkstra-based trajectory planning algorithm with multi-objective cost constraints formed by known threats and fuel costs is proposed to perform the static planning method for single-aircraft reconnaissance tasks.The Dijkstra algorithm,which is currently used to solve the optimal path between two points,is studied in depth,and the design is improved by establishing a multi-objective constrained cost function in accordance with the designed multi-threat environment.The key parameters that affect the performance of the algorithm are verified by simulation.The simulation results verify that the Dijkstra algorithm with multiconstraint cost function can effectively plan the path with the lowest threat cost under multi-constraint conditions for unmanned aerial vehicles performing reconnaissance missions in complex environments with multiple threat sources.(4)Based on the Dijkstra-ACO algorithm proposed for the complex environment under multi-threat sources,the on-line track planning algorithm for unmanned aerial vehicles in complex environment under incomplete information is used to complement and improve the tasks performed by unmanned aerial vehicles in complex environment.An on-line trajectory planning algorithm for unknown local information is designed and simulated.The reliability of the algorithm is verified by the experimental simulation.At the same time,the theoretical research and scheme design of the UAV online track planning algorithm in the global dynamic and complex environment are carried out.