Unmanned aerial vehicle static and dynamic path planning method based on digital map

Abstract

The invention provides an unmanned aerial vehicle static and dynamic path planning method based on a digital map, and relates to the technical field of unmanned aerial vehicle path planning. The method comprises the steps of: constructing an unmanned aerial vehicle flight three-dimensional digital map; setting initial and end position coordinates of flight of an unmanned aerial vehicle, and initializing an unmanned aerial vehicle path planning constraint condition; according to a hybrid particle swarm simulated annealing algorithm, updating a speed and positions of particles; drawing an unmanned aerial vehicle global static optimal flight path; judging whether the unmanned aerial vehicle encounters an emergent threat, and if yes, according to the hybrid particle swarm simulated annealing algorithm, re-planning a static flight path; and drawing an unmanned aerial vehicle global dynamic optimal flight path. By the method, in a static case, an accurate global flight track can be rapidly planned; and in a case of the emergent threat in the flight process, the threat can be rapidly avoided to effectively carry out path re-planning so as to guarantee flight safety of the unmanned aerialvehicle.

Description

technical field

[0001] The invention relates to the technical field of UAV path planning, in particular to a digital map-based static and dynamic path planning method for UAVs. Background technique

[0002] UAV (Unmanned Aerial Vehicle, UAV) is called an unmanned aircraft, which flies by receiving radio instructions or controlled by its own program. In the 20th century, the first unmanned aerial vehicle was successfully developed, and then the unmanned aerial vehicle in the form of a target aircraft was successfully developed. Successful research and development have played their respective roles in different fields. With the rapid development of science and technology in today's society, especially in the modern battlefield environment, unmanned military equipment has become an obvious trend. With the continuous improvement of aviation flight technology, the military value of drones with autonomous control functions on the battlefield is becoming more and more obvious. Th...

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