Trajectory Planning Method for UPV Based on DG-RRT
XI Wei1 YUAN Bao-Hua1 ZHANG Hao1 CHEN Zi-Li2 GUO Ming-Ming3
1．Unit 69250 of PLA, Urumqi Xinjiang 830000, China
2．Department of Unmanned Vehicle Engineering, The Army Engineering University, Shijiazhuang Hebei 050003, China
3. UAV Research Center, Army Aviation School, Beijing 101123, China
Abstract：To solve the trajectory planning problem of UPV in task condition,a new trajectory planning method is proposed based on deep guidance rapid-exploring random tree (DG-RRT) algorithm. Firstly, the particle model of UPV and threat environment model are established. Meanwhile, the performance constraints and threat avoidance conditions of aircraft are given. Then, the trajectory planning method of DG-RRT algorithm is proposed, in which the deep guidance strategy and the optimization strategy are introduced to the traditional RRT. Finally, the simulation results illustrate the e ectiveness of the proposed algorithm.
2019, Vol. 5 
