UAV TRAJECTORY OPTIMIZATION GENERATION BASED ON PYTHAGOREAN HODOGRAPH CURVE

Yi Zhang, Xiuxia Yang, Weiwei Zhou

Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, China

The study of autonomous planning of UAVs (Unmanned Aerial Vehicles) flyable on-line path to adapt unstructured environment and improve manoeuvring warfare capability has an important practical significance. A path planning algorithm on-line of UAV based on Pythagorean Hodograph (PH) curve is put forward, which can consider the kinematics and dynamic constraints. The effect of the key parameters on the trajectory generation are analysed, and the appropriate value range that satisfy the constrains are given. To overcome the blindness iteration, the method of improved estimation of distribution algorithm (EDA) is used to trajectory optimization. In the estimation of distribution algorithm, the probability selection mechanism of global elite individual based on interval selection is raised, which improve the speed and precision of the path generation. When the obstacle is detected by the UAV, only if the position and the direction of the interrupt point is given, the trajectory can be replaned online. Simulation results for UAV trajectory optimization generation prove the validity and practicability of the algorithm.