Abstract
Unmanned aerial vehicle route planning is a complex multiconstrained multiobjective optimization problem. Due to the complexity of various constraints and the mutual coupling between them, the expression of constraint conditions is not universal and normative. The development, maintenance, and upgrading of an existing route planning system are very difficult. In this article, by establishing the polychromatic sets of aircraft, aircraft equipment, and flight actions, creating the fuzzy relational matrix between equipment and actions and between actions and actions, this article realizes the standardized and generalized expression of the constraint condition of the route planning problem. Then the analysis and inspection of the constraint conditions are realized by the polychromatic sets operation rules.
Highlights
Route planning is to plan one or more optimal or feasible flight trajectories for the aircraft under the premise of comprehensive consideration of the unmanned aircraft mission requirements, fuel consumption, maneuverability, threat avoidance, and flight environment
A general constraint model for route planning is given by set, set dyeing, and the relationship among sets
The constrained template is obtained by set operation, which theoretically guarantees the universality of the constraint model establishment and the constraint analysis process
Summary
Route planning is to plan one or more optimal or feasible flight trajectories for the aircraft under the premise of comprehensive consideration of the unmanned aircraft mission requirements, fuel consumption, maneuverability, threat avoidance, and flight environment. This analytical result can be used as a constraint template for route planning or route inspection In this figure, FAXFattr is a 3D relation matrix, the first dimension is the element index of the device set, the second dimension is the index of the navigation point type set, and the third dimension is the relationship duration interval between navigation point and device. Closing communication link Investigation imaging Terrain matching Radar altimetry Target point In this experiment, we will test the route constrain inspection capability of polychromatic sets based method and compare it with existing route constrain inspection software base on route simulation and sampling method.[1] Figure 7 is a UAV route with multimission, the length of this route is 600 km, and the flight time is about 2000 s. In the polychromatic sets method, the navigation points or task execution points are defined as action sets, with the action execution constrain template, one can directly inspect whether the navigation points match the
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