UAV path planning research under the environment of moved target
Xia Chen, Xingchao Yu, Xianwei Hu · 2016
In this paper, the problem of path planning existing target movement in the flight is studied.Firstly, according to the terrain threat, the threat field is created by using the Voronoi diagram method, and the total cost of the track is established.Then, the problem of the traditional path planning only meeting the fixed target is studied, and the method of using Rapidly-exploring Random Tree (RRT) algorithm to solve the problem of target movement is proposed, the path after the target moved is modified, the precise strike for the moved target is realized.The simulation results show that initial path planned by Voronoi diagram and modified path planned by RRT algorithm after finding the target moved can effectively solve the accurate strike problem for the moved target.