Autonomous trajectory planning for UAV based on threat assessments and improved Voronoi graphics

Yanyan Yang; Rui Zhou; Zongji Chen

doi:10.1117/12.718197

30 October 2006 Autonomous trajectory planning for UAV based on threat assessments and improved Voronoi graphics

Yanyan Yang, Rui Zhou, Zongji Chen

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 63584J (2006) https://doi.org/10.1117/12.718197
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

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.

Citation Download Citation

Yanyan Yang, Rui Zhou, and Zongji Chen "Autonomous trajectory planning for UAV based on threat assessments and improved Voronoi graphics", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63584J (30 October 2006); https://doi.org/10.1117/12.718197

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