南京航空航天大学学报（英文版）2021，Vol.38Issue(2)：298-305,8.
基于地面安全约束的无人机航路规划研究
An Air Route Planning Model of Unmanned Aerial Vehicles Under Constraints of Ground Safety
摘要
Abstract
With the rapid growth of the number and flight time of unmanned aerial vehicles(UAVs),safety accidents caused by UAVs flight risk is increasing gradually. Safe air route planning is an effective means to reduce the operational risk of UAVs at the strategic level. The optimal air route planning model based on ground risk assessment is presented by considering the safety cost of UAV air route. Through the rasterization of the ground surface under the air route,the safety factor of each grid is defined with the probability of fatality on the ground per flight hour as the quantitative index. The air route safety cost function is constructed based on the safety factor of each grid. Then,the total cost function considering both air route safety and flight distance is established. The expected function of the ant colony algorithm is rebuilt and used as the algorithm to plan the air routes. The effectiveness of the new air route planning model is verified through the logistical distribution scenario on urban airspace. The results indicate that the new air route planning model considering safety factor can greatly improve the overall safety of air route under small increase of the total flight time.关键词
航空运输/无人机/航路规划/安全代价/地面风险评估/改进蚁群算法Key words
air transportation/unmanned aerial vehicle (UAV)/air route planning/safety cost/ground risk assessment/improved ant colony algorithm分类
信息技术与安全科学引用本文复制引用
韩鹏,赵嶷飞..基于地面安全约束的无人机航路规划研究[J].南京航空航天大学学报（英文版）,2021,38(2):298-305,8.基金项目
This work is supported by the Scientif-ic Research Project of Tianjin Education Commission(No.2019KJ128). （No.2019KJ128）
