UAV route planning method based on fuzzy virtual force

Abstract

In order to solve the problem of local minimum of a virtual force-based route planning method and realize real-time adaptive planning parameter setting in the planning process, the invention provides a fuzzy virtual force (FVF)-based unmanned plane route planning method. In the method, the real-time adaptive planning parameter setting is performed by combining a Bayesian network and fuzzy logic inference, and the problem of local minimum of the virtual force method is solved by a threat combination method. The fuzzy virtual force-based unmanned plane route planning method comprises the following steps of: 1) setting initial conditions for unmanned plane route planning, including planning an initial point, a target point, and thread distribution and attributes; 2) setting an iterative step of the unmanned plane route planning; 3) setting planning parameters so as to determine a relationship between a virtual repulsion coefficient and a virtual attraction coefficient; 4) performing route planning; and 5) judging whether the local minimum appears, if so, performing thread combination, otherwise, continuously performing route planning until the target point is reached.

Description

technical field [0001] The invention relates to a route planning method for an unmanned aerial vehicle, in particular to a route planning method for an unmanned aerial vehicle based on fuzzy virtual force. Background technique [0002] Route planning is an important research content in the field of unmanned aerial vehicles. The route planning problem is to find an optimal or feasible route between the starting point and the target point in real time under specific constraints, so that the unmanned aerial vehicles performing tactical tasks The function can penetrate the enemy's threat environment and complete specific tasks in the enemy's air defense area while preserving itself to achieve the best combat effect. [0003] In the current research, the route planning method based on virtual force (VF) is often used. The method was originally designed for real-time obstacle avoidance of fast-moving robots, enabling the robot to move quickly, continuously and smoothly between ob...

AI Technical Summary

Problems solved by technology

[0039] (1) The types of threats defined by virtual repulsion are not rich enough, and there is still a lack of guidance for setting parameters;

[0040] (2) The planning space is not divided reasonably, and the air route is not smoothed during the planning process;

[0041] (3) The method lacks a perfect mathematical description, and some technical principles are difficult to prove theoretically;

[0042] (4) The plan is a process of the fastest gradient descent, so there are defects in local minima and oscillations

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