With the increasing diversity of Unmanned Aerial Vehicle(UAV)missions,the flight environment is becoming more and more complex.Therefore,it becomes particularly important to find a safe path for the UAV from the starting point to the end point in the environment where there are dense threat points in the wild.In view of the existence of dense threat points in UAV path planning in Voronoi diagram,a UAV path planning method for supplementary starting and ending routes based on preferred spider bee DPC-Voronoi was proposed.Firstly,a threat point fusion algorithm based on density peak clustering was proposed to simplify the Voronoi diagram.Secondly,a spider bee track optimization algorithm based on the preferred strategy was proposed to plan the optimal path to meet the task requirements.Finally,for the case that the starting and ending points of the UAV are not on the Voronoi edge,a method is proposed to determine the starting and ending tracks based on the threat range.The simulation results verify the effectiveness of the algorithm in the case of combining dense threat points.
关键词
无人机/起止航迹/DPC-Voronoi/择优策略/航迹规划
Key words
UAV/starting and ending route/DPC-Voronoi/preferential strategy/route planning
维普
万方数据