Study on UAV Path Planning Approach Based on Fuzzy Virtual Force.pdfVIP

Chinese Journal of Aeronautics Chinese Journal of Aeronautics 23(2010) 341-350 /locate/cja Study on UAV Path Planning Approach Based on Fuzzy Virtual Force Dong Zhuoninga,*, Zhang Rulinb, Chen Zongjia, Zhou Ruia aSchool of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China bFlight Automatic Control Research Institute, Xi’an 710065, China Received 3 June 2009; accepted 16 October 2009 Abstract This article proposes a novel fuzzy virtual force (FVF) method for unmanned aerial vehicle (UAV) path planning in compli- cated environment. An integrated mathematical model of UAV path planning based on virtual force (VF) is constructed and the corresponding optimal solving method under the given indicators is presented. Specifically, a fixed step method is developed to reduce computational cost and the reachable condition of path planning is proved. The Bayesian belief network and fuzzy logic reasoning theories are applied to setting the path planning parameters adaptively, which can reflect the battlefield situation dy- namically and precisely. A new way of combining threats is proposed to solve the local minima problem completely. Simulation results prove the feasibility and usefulness of using FVF for UAV path planning. Performance comparisons between the FVF method and the A* search algorithm demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems. Keywords: fuzzy virtual force; unmanned aerial vehicle; path planning; hybrid system; Bayesian belief network; fuzzy logic reasoning; local minima 1. Introduction1 Path planning is one of the fundamental issues in unmanned aerial vehicle (UAV) research. A standard path planning problem is to determine an optimal or feasible path in time between desired locations under specific constraints. After path planning, UAVs have the ability to penetrate threats of enemy, a