Two Layers Solving Strategy for Path Planning of Unmanned Aerial Vehicle

摘要

In this paper, the mathematical model of the Dubins travelling salesman problem with neighborhood (DTSPN) abstracted from the path planning of unmanned aerial vehicle(UAV) is studied. Firstly, the model is simplified for that the optimal solution can be found on the boundary of the regions. Secondly, the two layers solving strategy based on Simulated Annealing Algorithm is provided to solve the DTSPN. Finally, the numerical experiment indicates that this strategy is efficient in solving the path planning problem of UAV.