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<p>In this paper, we present an optimization model for multi-objective optimal path planning of fixed-wing solar UAVs tracking ground targets moving at arbitrary speeds in any directions and validate the model through Matlab simulation. The constraints of the optimization model are the kinetic model of the UAV, the wind effect on the UAV motions, the limits of the airspeed and roll angle, the discharge depth limit of the battery, etc., and the objective function is set to ensure high tracking success rate with less energy. If the target is captured by the camera, the image analysis program determines the current position of the target, and if not captured, the previous position information is used to predict the current position of the target. By iteratively solving the optimization problem using RHC and PSO, the position of the UAV is determined at each time point, and the resulting path becomes the multi-objective optimal tracking path of the UAV. To show the validity of the proposed method, tracking success rate, wind effect, calculation time of control quantities, battery discharge depth variation and effect of solar radiation are analyzed through Matlab simulation. The analysis results show that the proposed method can be used for path planning of fixed-wing solar UAVs tracking ground moving targets.</p>

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Integrated model and MATLAB simulation for multi-objective optimal flight path planning of a fixed-wing solar UAV with tracking moving ground target

  • 期刊论文

  • 发表日期：

    2026年5月12日

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  • Kwang Choe,
  • Chang-Il Choe,
  • Yong-Su Kong,
  • Ok Hong,
  • RyongJu Pak

摘要

In this paper, we present an optimization model for multi-objective optimal path planning of fixed-wing solar UAVs tracking ground targets moving at arbitrary speeds in any directions and validate the model through Matlab simulation. The constraints of the optimization model are the kinetic model of the UAV, the wind effect on the UAV motions, the limits of the airspeed and roll angle, the discharge depth limit of the battery, etc., and the objective function is set to ensure high tracking success rate with less energy. If the target is captured by the camera, the image analysis program determines the current position of the target, and if not captured, the previous position information is used to predict the current position of the target. By iteratively solving the optimization problem using RHC and PSO, the position of the UAV is determined at each time point, and the resulting path becomes the multi-objective optimal tracking path of the UAV. To show the validity of the proposed method, tracking success rate, wind effect, calculation time of control quantities, battery discharge depth variation and effect of solar radiation are analyzed through Matlab simulation. The analysis results show that the proposed method can be used for path planning of fixed-wing solar UAVs tracking ground moving targets.