Intelligent planning method for three-dimensional global flight path of unmanned aerial vehicle in enemy threat uncertainty environment

Abstract

The invention discloses an intelligent planning method for a three-dimensional global flight path of an unmanned aerial vehicle in an enemy threat uncertainty environment. The intelligent planning method comprises the steps: firstly building a three-dimensional environment model of an unmanned aerial vehicle according to a priori map; determining three objective functions for evaluating the advantages and disadvantages of the flight path, and establishing a three-objective optimization model of three-dimensional global flight path planning of the unmanned aerial vehicle in an enemy threat uncertain environment; secondly, performing particle swarm intelligent planning on the global path of the unmanned aerial vehicle by adopting an improved multi-target backbone particle swarm optimizationalgorithm; and finally, smoothing all paths in the obtained optimal path set by adopting a linear interpolation method, and displaying a plurality of solved feasible paths on a simulation map, so thata decision maker can select a final path according to actual conditions. The path selected by the intelligent planning method not only can avoid obstacles, but also can avoid threats of enemies, andthe length of the path is short, and a decision maker can select and obtain the optimal path according to actual requirements.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicles and intelligent navigation, and in particular relates to an intelligent planning method for a three-dimensional global track of an unmanned aerial vehicle under an uncertain enemy threat environment. Background technique [0002] In modern society, the range of applications of Unmanned Aerial Vehicles (UAV) is becoming more and more extensive. Track planning is a key link in the UAV mission planning system, and has become a research hotspot in the field of UAVs in recent years. Track planning refers to quickly and accurately calculating a better or optimal flight path from the start point to the end point, based on environmental factors such as the terrain and threats faced by the UAV, while taking into account the comprehensive performance of the UAV itself. A good trajectory planning method can not only reduce the risk of flying, but also help to reduce the fuel consumption of drones, im...

AI Technical Summary

Problems solved by technology

Although the invention involves the uncertainty of the source of danger, the considered robot motion scene is a two-dimensional plane environment

As mentioned earlier, compared with 2D robot path planning, the above method cannot be directly used in 3D scenes because the movement space of UAVs becomes larger and the terrain is more complex.

In addition, the above-mentioned invention patent models the two-dimensional robot path planning as a two-objective optimization problem including interval parameters, and the decision maker cannot judge the uncertainty of the degree of danger of the obtained path

Images