Path planning algorithm and its simulation validation based on vector field

Abstract

The methods of waypoint setting and point curve fitting which are not complex was usually adopted in the path planning of UAV, and the expected heading angle is given in segments. The expected heading angle does not automatically modified with changes in the route. The ability to automatically and quickly generate the expected heading and position is lacking. A vector field algorithm suitable for complex flight mission path planning is studied, and a simulation verification system to verify the effectiveness of its algorithm is developed in this paper. The concept of vector field is introduced in order to design a heading angle guidance law. An aircraft at any position can smoothly fly to the desired target path along the desired heading angle, and then complete the flight task along the desired target path. The implicit function equation is used to establish the desired path vector field, and the principle and method of path planning based on vector field are geometrically analyzed. According to the Lyapunov stability theory, the boundedness of the planned path error is proved. The distance error and the heading angle error can be stably converged to 0 with the help of the heading guidance law. Taking the path planning of the altitude hold mission for a quad tiltrotor UAV as an example, the desired path of smooth flight is planned using the vector field method and the piecewise transition strategy. The verification is conducted and some simulation results are given, which show that the vector field path planning algorithm is feasible and effective for the mission flight planning of an aircraft.

Keywords

• vector field
• path planning
• implicit function equation
• lyapunov stability
• piecewise transition strategy
• visual simulation