Autonomous trajectory planning for UAV based on threat assessments and improved Voronoi graphics
Yanyan Yang, Rui Zhou, Zongji Chen · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2006
The Voronoi Graphics Based UAV trajectory planning method is widely used because of the compact model and its excellent temporal and spatial performances. Since some problems lie in the existed models, an integrated architecture of trajectory planning based on threat assessments and Improved Voronoi Graphics is proposed. A Threat Level Assessment model of the Threat Source and a Threat Level Assessment model of the Path are developed, both of which are based on Bayesian Network and fuzzy logic. A new formula for calculating the path cost is given, including the threat cost and the fuel cost. By integrating the Assessment models with the Improved Voronoi Graphics Based trajectory planning methods, a desirable path that can adapt to the changing of the situations in the battle field and that also has the minimum path cost is obtained. At last, considering the UAV's dynamical constraints, a κ-Trajectory algorithm is chosen to smooth the flying path of the UAV and at the same time ensure that the actual trajectory length is equal to the length of the planned path. The simulation results demonstrate the effectiveness of the proposed integrated trajectory planning method based on threat assessments and Improved Voronoi Graphics.