Research on the Motion Planning of Terminal Penetration Path for Reconnaissance Attack Integrated UAV
HU Yiming
SUN Chunsheng
LI Jiakuan
YU Hongzhi
Abstract：Aiming at the problem of motion planning at the end of the attacking unit,the method of planning an optimal path in the radar detection space with terrain obscuration is studied. Firstly,the optimal model with the shortest path and the minimum probability of detection is established. Then the original digital elevation data is interpolated and preprocessed to generate a three-di?mensional topographic map that can be used for drone flight,and the method based on hybrid sampling is adopted. The radar is three-dimensionally modeled,and the threat information is expressed through the detection area of the radar,and the optimization model is realized. Finally,the bidirectional RRT algorithm based on simulated annealing is used to solve the optimality of the drone. The simulation results of the attack trajectory show that the motion planning method of the paper can quickly find a track with the shortest path and low probability of detection in the radar detection space with terrain cover.
Keywords：unmanned aerial vehicle(UAV)trajectory planningoptimal modelbidirectional RRT algorithm
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 19-23 )