Unmanned aerial vehicle track planning method based on particle swarm and PRM algorithm

Abstract

The invention provides an unmanned aerial vehicle track planning method based on a particle swarm and a PRM algorithm, which comprises the following steps of: randomly collecting points in an unmannedaerial vehicle flight space, and constructing a probability map by using a PRM method according to obstacle information such as a no-flight area, a radar area and the like in the environment, converting the planning problem of a continuous space into a planning problem of a topological space, determining the position of a source point and the position of a target point according to the position of the unmanned aerial vehicle and the assigned task position, taking the distance of the unmanned aerial vehicle from the source point to the target point as an optimization target function, accordingto the characteristics of an unmanned aerial vehicle flight path planning model, coding a distribution scheme, solving the problem by using a particle swarm algorithm, obtaining a shortest flight path in a probability map, and by increasing the sampling point quantity near an obstacle in the sampling process, the path search of the algorithm in a narrow channel is strengthened, and the algorithmis more suitable for a complex terrain.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle, specifically a method for planning a flight path of an unmanned aerial vehicle, and belongs to the field of intelligent optimization algorithms. Background technique [0002] With the development of computer technology, sensor technology, wireless communication technology and UAV technology, UAVs gradually have a high degree of autonomous control capabilities. Compared with manned aircraft driven by pilots, UAVs have many potential advantages. For example: UAVs that fly autonomously do not need to rest when the fuel is sufficient, and can cruise for a longer period of time; UAVs do not need to provide the necessary life support systems for pilots, which not only reduces flight costs, but also provides a better environment for deploying sensors. and other equipment provides more space. Multi-UAV cooperative operations can improve the combat effectiveness of UAVs, which has become the development tren...

AI Technical Summary

Problems solved by technology

The traditional method has relatively good completeness, but when the environment is too complex, the amount of calculation will increase greatly, and the path may not be found

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