Abstract:

Aiming at the problem of three-dimensional (3-D) realtime path planning for the unmanned aerial vehicle (UAV), a smooth planning method based on the trilevel decision-making (TLD) model is proposed so as to improve the planning efficiency and route’s maneuverability. Firstly, considering the constraints of UAV including self-performance, threats and obstacles, and terrain, TLD objective functions and decision variables are designed according to the characteristics of 3-D flying. Secondly, the cellular map with variable detection length method and the heuristic optimization strategy are proposed to avoid the unnecessary detours and paths as well as improve the smooth performance of the flight path. Finally, the proposed algorithm named cognitive behavior optimization algorithm (COA) is introduced to solve this math model in order to improve the search efficiency of planning path. The results obtained by different scenario terrain simulation and comparisons with other classic methods indicate that the proposed approach can realtime avoid threats and terrain obstacles effectively. Meanwhile, it has a high enforceability and can generate the safe and smooth flight path quickly.