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Unmanned aerial vehicle intelligent airway planning test method based on metamorphic test technology

A technology of route planning and metamorphosis testing, applied in the direction of navigation calculation tools, etc., can solve few problems such as algorithm correctness and reliability form analysis, and algorithm cannot output the optimal global path, etc., to achieve the realization of automatic process and highly automated process Effect

Active Publication Date: 2020-02-21
BEIHANG UNIV
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Problems solved by technology

However, to date, little effort has been devoted to formal analysis of the correctness and reliability of algorithmic implementations
Obviously, this means that even if the algorithm outperforms other path planning algorithms, the algorithm cannot output the optimal global path without the correct implementation of

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  • Unmanned aerial vehicle intelligent airway planning test method based on metamorphic test technology
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  • Unmanned aerial vehicle intelligent airway planning test method based on metamorphic test technology

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Embodiment Construction

[0049] Refer below figure 2 , image 3 , Figure 4 ,and Figure 5 , the test method of UAV intelligent route planning algorithm based on metamorphosis test technology is described in detail:

[0050] Step 1: Define the metamorphic relationship

[0051] S1.1 takes the length of the optimal path (|f(S, Env, T)|) as the center defining all metamorphic relations, which means that all metamorphic relations should be related to it; according to this center, the UAV route The planning test scenario is divided into three parts, namely the starting coordinate point S, the task target point T and the flight environment Env, and the attributes of each part are extracted, such as Figure 4 As shown, both S and T have two attributes of coordinates and quantities, while Env has a radius attribute in addition to coordinates and quantities. In this way, a metamorphic feature operation can be defined for each part, namely O-S, O-T and O-Env. Similarly, the attributes of each part can be ...

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Abstract

The invention discloses an unmanned aerial vehicle intelligent airway planning test method based on metamorphic test technology, comprising the following steps: (1) analyzing an unmanned aerial vehicle intelligent airway planning algorithm, defining a metamorphic relationship, and designing a subsequent test case generator and a result comparator; (2) generating an initial test case set by utilizing a random value method under a certain constraint rule and inputting the initial test case set into the algorithm to obtain initial output of test cases; (3) taking the initial test case set and theinitial output as inputs and obtaining a subsequent test case set and a corresponding subsequent output through a subsequent test case generator; and (4) inputting an initial output result and a subsequent output result into a result comparator. If a corresponding metamorphic relation is met, the test is passed, and no defect is found; otherwise, an unmanned aerial vehicle intelligent route planning algorithm has defects. According to the invention, the problem of lack of Oracle in unmanned aerial vehicle intelligent route algorithm testing can be alleviated, the generation of test cases canbe guided, and the utilization rate of the test cases can be improved.

Description

technical field [0001] The invention belongs to the field of software testing of algorithm testing, and in particular relates to an intelligent route planning testing method for unmanned aerial vehicles based on metamorphosis testing technology. Background technique [0002] Background technology 1: UAV route planning technology [0003] The basic goal of UAV route planning is to autonomously obtain a flight path that can avoid threats and reach the target safely. In recent years, the research on route planning has developed rapidly, and many literatures have proposed modeling and solving methods for this problem from different aspects. These studies can be divided into two categories: one is static route planning research, that is, route planning based on complete prior information of the environment. UAVs construct a safe, feasible, and satisfactory path between the starting point and the target point based on the global and complete environmental threat information; the...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 郑征张建涛
Owner BEIHANG UNIV
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