Research on online and real-time path planning of UCAV by tracking and controlling in multi-restriction

The mathematic model of the UCAV is built firstly and the cost function is designed. Based on the multi-restriction of the path planning, ISAS arithmetic of path re-planning is put forward, and the path node expanding method is given. After that the three-dimensional trajectory path is created under the real-time dynamic operational environment, which is smoothened by using the cubic B-spline method. The tracking of the trajectory inclination, declination, overload are realized by the use of sliding mode variable control and the dynamics model of the UCAV. After the control estimate calculated, the mathematic simulation is carried out. The results of the simulation illustrate that the three-dimensional trajectory path under the real-time dynamic operational environment could meet the needs of the combat, and trajectory tracking controller has the capability of robust, and expected trajectory can be tracking accurately.