A UAV trajectory planning method considering arrival time constraints
A technology of arrival time and track planning, applied in three-dimensional position/course control, instruments, control/regulation systems, etc., to achieve the effect of improving search efficiency
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[0071] The simulation hardware is Intel Core i5-6200 CPU 2.30GHz, 8G memory, and the simulation environment is MATLABR2016b. The UAV formation performs tasks in a two-dimensional environment of 10km×10km. Trajectory planning requires UAVs to avoid no-fly zones in the environment during the process from the starting point to the target point.
[0072] This embodiment discloses a UAV trajectory planning method considering the arrival time constraint, and the specific implementation steps are as follows:
[0073] Step 1: Obtain UAV flight performance parameter information, track constraint information and mission environment information.
[0074] Set the flight speed of the UAV to 35m / s, the maximum turning angle to 90°, and the minimum track segment length l min = 1 km. Table 1 lists the starting / end position of the UAV's flight and the position and radius of the no-fly zone in the mission environment. The specified range of the UAV is 9.60km, and the relative error limit of...
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