Study on 4D path planning and tracking controlling of UCAV in multiple constraints dynamic condition

Aiming at the path planning and tracking of a UCAV in multiple constraints dynamic condition, the mathematic model of the UCAV is built firstly and the cost function is designed. Considering the constraints, the path nodes extension method is proposed. In response to the problem of online trajectory re-planning, we put forward the 4D path planning FISAS arithmetic in order to realize on-line path planning when meeting the emergent threats during flying. The path is smoothened, adjusted and interpolated by using the cubic B-spline method considering dynamic constraints, boundary limit and overload limit, and the flight play test condition is built. The tracking of the trajectory attitude and velocity are realized with dynamics model of the UCAV by the use of sliding mode variable control and the expect output is obtained. The results of the simulation show that the four-dimensional path under the real-time dynamic operational environment could fulfill the requirements, and the tracking controller has good robustness, and expected trajectory can be tracked precisely and rapidly.