Autonomous path planning simulation of UAVs in uncertain environment
Hengxi Zhang · Electronics Optics & Control · 2008
Unmanned Air Vehicles(UAVs) with autonomous capability is a development trend of UAVs,and path planning of UAVs in uncertain environment is a new area for study.We studied autonomous path planning of reconnaissance UAVs under combat conditions.We proposed a model framework according to the current control mode of UAVs,and then carried out simulation based on it.Firstly,considering the uncertain environment where reconnaissance UAVs taking tasks in wartime,an environment information model was built based on the existence probability of targets.Then,a sensor searching model was proposed to calculate the searching area of the prospecting apparatus carried by UAVs.A control model was put forward to make decisions on which path to choose.And a dynamic programming method was applied for path programming.Lastly,a simulation test was designed for UAVs searching uncertain environment,and the simulation results proved the effectiveness of the method.