A Path Planning Method for Unmanned Aerial Vehicle Based on Situation Space

Abstract

The invention provides a situational space based route planning method for an unmanned aerial vehicle. The method comprises 1, using the unmanned aerial vehicle to detect the surrounding environment information in real time, extracting state information of a detected moving object; 2, resolving the situational space of each moving object according to the state information, analyzing the physical constraint of the unmanned aerial vehicle, giving a constraint space in an airborne coordinate system; 3, acquiring a tracking strategy according to the revenue function of the moving object; 4, acquiring a conflict avoidance strategy for avoiding the moving threat according to the situational space; 5, fusing the strategic accelerations in the step 3 and the step 4, generating a new control acceleration, correcting according to the upper limit of the speed, and then obtaining a new plan position according to a destination point generation method. The method provides an effective conflict-freepath for a UCAV (Unmanned Combat Air Vehicle) having a maneuvering characteristic to tract a target in the high-altitude sparse space. The planned path not only meets the practical physical demands, and effectively keeps a safe flying distance with the tracked target.

Description

technical field [0001] The invention relates to a three-dimensional path planning method. Specifically, it is a three-dimensional path planning method for unmanned aerial vehicles. Background technique [0002] Object tracking and collision avoidance are critical to the success of unmanned aerial vehicle (UCAV) missions. In order to improve the autonomy level of unmanned vehicles and ensure the feasibility and safety of planned routes, the development of related navigation and control strategies is rapidly increasing. These devices have attracted a lot of attention in many applications. Traditional two-dimensional (2D) path planning is mainly used to find the globally optimal path offline in a known or static environment. However, the targets and threats tracked by UAVs are usually flexible in three-dimensional (3D) high-altitude flight paths, and the motion control of UAVs is limited by some performance parameters, so online search for locally optimal or even feasible ro...

AI Technical Summary

Problems solved by technology

However, the targets and threats tracked by UAVs are usually flexible in three-dimensional (3D) high-altitude flight paths, and the motion control of UAVs is limited by some performance parameters, so online search for locally optimal or even feasible routes is important to UCAV is a big challenge

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