考虑地面行人安全的无人机低风险路径规划策略

为了提升无人机点到点作业任务的安全性，本文提出了一种低风险路径规划策略。低风险路径规划策略包括风险评估和路径规划两部分。在风险评估部分，以无人机对地面行人的风险作为评估指标，建立风险值评估模型和风险等级评估模型，以风险图作为结果表征无人机作业的安全程度。在路径规划部分，结合风险评估模型的特有背景和特点，提出了一种改进快速探索随机树^*算法，这一算法使用了路径冲突检测和优先探索等策略，可以更加有效的探索到低风险路径。最终，案例分析表明，低风险路径规划策略能有效规划出避开风险较高区域的作业路径，其路径风险代价相比于直线飞行降低了13.16%,其路径规划时间相比于对比算法降低了60.63%和12.20%。因此，这一规划策略具有实用价值，可以提升无人机作业的安全性。

Low-risk path planning strategy to consider ground pedestrian for unmanned aerial vehicle

In order to improve the safety of the point-to-point operation of unmanned aerial vehicles(UAV), this paper proposes a low risk path planning strategy. Low risk path planning strategy includes risk assessment and path planning. In the part of risk assessment, the risk value assessment model and risk grade assessment model are established by taking the risk of UAV to pedestrians on the ground as the assessment index, and the risk map is taken as the result to represent the safety degree of UAV operation. In the path planning part, combined with the unique background and characteristics of the risk model, an improved rapidly-exploring random tree* algorithm is proposed. This algorithm uses the strategies of improved collision detection and priority exploration to explore the low-risk path more effectively. Finally, the simulation results show that the low-risk path planning strategy can effectively plan the operation path to avoid the high-risk area. The risk value is reduced by 13.16% compared with the straight-line flight, and the planning time is reduced by 60.63% and 12.20% compared with the contrast algorithm. Therefore, this planning strategy has practical value and can improve the safety of UAV operations.