面向城市飞行安全的无人机离散型多路径规划方法

doi:10.7527/S1000-6893.2020.24383

Abstract

Abstract: A risk-based Unmanned Aerial Vehicle (UAV) multi-path planning method is proposed to improve the safety of UAV operations and generate multiple alternative flight paths in discrete urban environments. According to the proposed model of urban environments, flight rules, and principles of safety, a safety analysis model and a multi-path planning model are established respectively. A Clustering Improved Ant Colony Optimization (CIACO) algorithm is employed to enhance algorithm performance on convergence rate and solution quality. In this algorithm, the multi-path planning problem is solved by designing a cluster mechanism and improving original Ant Colony Optimization (ACO) algorithm. Simulation studies show that the proposed method can generate multiple flight paths with low risks at fast convergence rates.

Key words: Unmanned Aerial Vehicle (UAV), urban environments, safety analysis, multi-path planning, Ant Colony Optimization (ACO) algorithm

CLC Number:

V279

HU Xinting, WU Yu. Risk-based discrete multi-path planning method for UAVs in urban environments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(6): 324383-324383.

References

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Risk-based discrete multi-path planning method for UAVs in urban environments

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