International Core Journal of Engineering 2020-26 | Page 148

capability, and strong flight flexibility. It can be adapted to
complex terrain flights, but battery life is short. It is now used
for photography, land and other areas of investigation.
and the problem map is determined by the coordinates of any
of the three threat points adjacent to Tyson's ribs, the
coordinates of vertexs in Tyson polygons, and the edges
between the adjacent vertices and this. The rectangular flight
area is established with the beginning and end of the line
diagonal, and the edge of the rectangular area (with
rectangular edges) is a collection of feasible solutions for the
initial flight path
Summarizing and the relevant parameters of similar load
combers withnosive fixed wings and rotational capabilities
show that the rotor type of unmanned aircraft has a large
payload and has the ability to hover slightly smaller than the
unmanned size of the fixed wing. Line folding and vertical
climbs can be performed. They are more flexible in mountain
hiking, but with less speed, endurance time and resistance than
fixed-wing aircraft. Therefore, in practical application, it
should be combined with the objective conditions of the
emergency material transfer area. Comprehensive analysis
and selection of specific flight models.
B. Establish path safety constraints
Since any edge of Tyson's rib is far from the adjacent threat
point, the Tyson ribbed filament generator can be used as a
possible solution to the drone path layout based on the position
of the threat point, but in mountain density, until Tyson
crosses the middle line connecting the two threat points
through the edge of the polygon, It is not always guaranteed
to fly safely to avoid obstacles. Therefore, the path integrity
constraint is set to filter possible solutions.
B. Constraints for drone path planning
(1) Longest route constraint
The seaworthiness and safety of the drone must be
determined. On the one hand, it is necessary to estimate the
maximum value of unmanned orbitso so that the length of the
planned route is within the maximum trajectory limit, and on
the other hand, the drone is not allowed to perform several
cycles and return during flight to improve flight safety and
reduce energy consumption.
Set the distance between the drone position and the threat
point to 3 levels, with two concentric circles with two radius
sums at the center coordinates of the threat point. .When the
distance between the drone and the threat point ,treated as safe;
When ,Considered safer; When considered dangerous. Each
path is known to consist of multiple segments in tyson
polygons, Segment The level of security available for security
metrics said, With drones in Segment The distance closest to
the center of the threat point (i.e. the vertical line length from
the center of concentric circle to the segment) is the ,And After
the value comparison determines the degree of safety of the
section, And on the assignment, Specific values can be used
delphi or hierarchical analysis to determine the performance
characteristics of the uavouring, setting the minimum safety
of the passable segments to ,If ,Mark the segment as
unavailable By setting the total path by The total security of
the path is composed of segments :
(2) Obstacle Safety Distance Constraint
According to the principle of fluid mechanics, when the
unmanned aerial vehicle is flying in the designated airspace,
the pressure in the flight area is reduced due to its speed and
lower flight area, increasing the risk of the drone colliding
with nearby obstacles. Therefore, the minimum safe distance
between the UAV and the obstacle is usually adjusted when
avoiding obstacles. When flying between two obstacles at
close range, it is usually decided to go through the middle of
two decades to ensure the safety of the unmanned flight.
(3) Minimum turning radius constraint
For fixed-wing drones, it is usually not possible to bend in
the right corner. Rotor-type drones usually do not use bending
in the right corner. The rotation radius of a drone is affected
by the speed and roundness of the flight.
N
Q
(4) Climb constraint
Typically, fixed drones do not achieve vertical climbing
(descent). The maximum elevation of a fixed-wing drone will
affect the climb rate in mountainous areas with significant
differences in height. Difficult to operate fixed-wing drones.
Drone rotors that require the same weight require smaller
areas to take off. For short-distance mountain relief supplies,
priority should be given to the use of rotary-wing aircraft.
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(1)
C. Finding the Shortest Path
In order to improve the efficiency of the solution, it is used
as an ant colony algorithm to search in the shortest ant colony
algorithm to improve the actual solution Kjuzmih Intelligence
Squadron. The basic idea is that ants will leave pheromones in
the search for food and will follow the ant's choice of
information. The richest path pheromones will evaporate over
time. The longer the distance, the lower the pheromone
concentration, the less likely it is to select a path. Conversely,
the shorter the distance, the greater the concentration of
pheromones and the determination of the path. The greater the
number of ants, the more left pheromones they pass through
each ant, so they are often installed in the shortest path, which
leads to attracting more ants to determine the path of the
pheromone, and at the end of the year, forms the shortest path
to most ant colonies. Figure 1 shows the shortest process for
generating paths based on the ant colony algorithm.
III. D RONE PATH PLANNING METHOD BASED ON IMPROVED ANT
COLONY ALGORITHM
A. Determining the initial feasible path
In the flight area, the upper position of the unmanned aerial
vehicle, which is higher than the aircraft's altitude, is called
the threat point. Tyson's polygons are also created based on
the location of the threat point. It is also known as the Voronoi
scheme, which means that in a diagram with multiple random
dots, the platform is surrounded by a vertical rectangle of
random dot lines. First, the threat points in the communication
scenario form a set of triangles. In addition, the restricted
circle position of each triangle is determined and connected
sequentially in the triangular mesh, and the problem map is
determined and connected sequentially in the triangle mesh,
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