Three-Dimension Path Planning for Unmanned Aerial Vehicle Under Moving Threat

Abstract

Abstract:

In this paper, the three-dimension path planning for unmanned aerial vehicle under moving threat was studied. First, the state information of moving threat was predicted by adaptive Kalman filter. According to the relation between heading angle, flight path angle with line-of-sight angles, a mathematical model for controlling track angle was established and a path planning algorithm was presented based on parameter adjustment. Simulations show that the algorithm can assure unmanned aerial vehicle to avoid the moving threat efficiently and quickly.

Key words: unmanned aerial vehicle, moving threat, mathematical model for controlling track angle, parameters adjustment, threedimension path planning

CLC Number:

TN 279
O 225

CHEN Xia,ZHANG Jing，XU Guangyan. Three-Dimension Path Planning for Unmanned Aerial Vehicle Under Moving Threat[J]. Journal of Shanghai Jiaotong University, 2014, 48(10): 1400-1405.

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