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Dynamic Path Planning and Simulation for Unmanned Aerial Vehicles in an Uncertain Environment

Author: WangXuZhi
Tutor: YaoMin
School: Nanjing University of Aeronautics and Astronautics
Course: Measuring Technology and Instruments
Keywords: UAV Dynamic Path Planning Ant Colony Optimization Model Predictive Control MAK simulation
CLC: V249
Type: Master's thesis
Year: 2013
Downloads: 29
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Dynamic path planning of UAV will be one of the key technologies of autonomous flight andautonomous operations. Due to the dynamic variability of operational condition and flightenvironment,it is difficult to obtain accurate information about the global environment,thus themethod of traditional static planning can not fully meet operational need of UAV. On account ofstatic threats and moving threats in flight environment,this paper has researched on dynamic pathplanning of UAV. The static path planning is closer to the optimal result,but has lower calculationspeed and unable to deal with moving threats;Dynamic planning method is real-time,however,we should take seeking feasible solution as the first goal,and path planning as a sub-optimalsolution. The paper use solution of static path planning as a premise, adjust track withdynamic programming,as well as effectively avoid static threats and moving threats of path.According to the operational requirements of modern information technology,the staticthreats of battle environment are analyzed,and corresponding models are set up. The grid methodis used to divide the environmental space,it expounded the traditional algorithm based on AntColony Optimization and improved its search method to solve this problem,several examples aresimulated according to the models,the simulation figures and statistical data are derived,andcorresponding analysis is done to the results obtained.According to the information about current position and velocity of moving threats,prediction on its trajectory and realize early to avoid moving threats. A model predictive controlalgorithm is proposed for UAV path planning,taking full consideration of uncertain environmentwith motive and static threats to fit with real battle environment,which is inspired by Ren Jia’sresearch. Then the path planning is done with improved Ant Colony Optimization algorithm andModel Predictive Control algorithm and after comparing,the simulation results are analyzed.The path planning of UAV is studied both on the static path planning and dynamic pathplanning,and several examples are simulated in matlab to prove the pros and cons of thealgorithms. To truly show the actual operational effect of UAV path planning,dynamic simulationsystem based on the VC and MAK simulation platform is set up. Compared with traditionalsimulation techniques,there has a distinct advantage on real-time capability,flexibility,integration,hierarchical and so on.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation
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