A Highly Flyable Route Planning Method Based on Route Tracking Mapping Network

Abstract

The invention provides a high-flyability route planning method based on route tracking and mapping network, which belongs to the field of unmanned aerial vehicle navigation guidance and control technology. Closed-loop motion control model, and input the random planning route and random state, output the corresponding predicted state and predicted track, arrange the current planned route and state of the UAV into two-dimensional data in chronological order, input them into TMN one by one, and get each The deviation value of the predicted state and predicted track corresponding to each input is output, and the TMN is updated by backpropagation. Then, the total cost function is established; under the MPC framework, n random routes are planned and input into TMN, the flight track and flight status are predicted, and substituted into the total cost function to obtain the optimal planned route, and the flight control system tracks the optimal plan The flight path, while displaying, records the actual flight path and flight status parameters of the UAV, which improves the flight path prediction ability.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation guidance and control, and in particular relates to a high-flyability route planning method based on route tracking and mapping network. Background technique [0002] UAV route planning refers to finding the most satisfactory UAV flight path from the mission starting point to the mission end point in a specific environment, combined with map information and various constraints. Route planning not only needs to achieve the optimal task cost as much as possible, but also the flyability of the planned route is also very important. The flyability of route planning represents the feasibility and accuracy of UAV tracking the planned route, which is an important issue in the field of UAV route planning. High-flyability route planning is of great significance for some high-precision tasks, such as obstacle avoidance in dense areas, autonomous aerial refueling and docking, and pr...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of low flyability in existing route planning methods, the present invention proposes a highly flyable route planning method based on route tracking and mapping network, fully considering the kinematics, dynamics and route tracking of UAVs The characteristics of the control system can greatly improve the flightability and other performance of the planned route, ensure flight safety, and have the characteristics of intelligence, relearning and high planning efficiency, which is of great significance for the safe flight path planning of unmanned systems

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