复杂低空环境下考虑区域风险评估的无人机航路规划

为解决无人机在复杂低空环境内运行安全性较低的现状,提出了考虑区域风险评估的无人机航路规划方法,可快速生成运行风险较低的航路。首先,对复杂低空环境进行模型简化和风险评估,得到低空三维风险图;再将路径风险值作为综合代价,利用改进蚁群算法对空间三维航路进行规划,有效降低了生成路径的冗余度;最后,用3次B样条对规划出的离散路径进行平滑处理,生成曲率与俯仰角连续的可飞路径。仿真与实验结果表明:本文提出的算法生成的路径能够以较小的路径代价,换取一条风险值较低的路径,同时路径冗余度较低,曲率与俯仰角连续变化,是满足无人机性能约束的可飞路径。

UAV route planning considering regional risk assessment under complex low altitude environment

In order to solve the problem of low safety of unmanned aerial vehicles(UAVs) operating in complex low-altitude environment, a route planning method for UAVs with regional risk assessment was proposed, and it could quickly generate a route with low operational risk. Firstly, the complex low-altitude environment was simplified by model and risk assessment, and the low-altitude three-dimensional risk map was obtained. Taking the path risk value as the comprehensive cost, the improved ant colony algorithm was used to plan the three-dimensional space path, it effectively reduced the redundancy of the generated path. Finally, cubic B-spline is used to smooth the planned discrete path and generate a continuous flightable path with curvature and pitch angle. The simulation and experimental results show that the generated path can be exchanged for a path with a lower risk value at a lower path cost, and at the same time, the path redundancy is low, and the curvature and pitch Angle continuously change, so it is a flight-able path that meets the performance constraints of UAV.