南京航空航天大学学报2024，Vol.56Issue(6)：1002-1012,11.DOI:10.16356/j.1005-2615.2024.06.003
城市复杂环境下多目标无人机路径规划研究
Research on Multi-target UAV Path Planning in Urban Complex Environments
摘要
Abstract
Aiming at the noise,cost and safety problems of current unmanned aerial vehicle(UAV)operation within cities,this paper divides the airspace into layers by altitudes and proposes an operation cost and crash risk model based on noise protection zones under aerodynamic and other constraints.This model satisfies the standard operation conditions of UAVs,and reduces the noise impact on the environment and the ground population,as well as operation cost and crash risk.Thus,based on the noise protection zone,the improved Dubins path planning method is used.It combines the Dubins path planning idea with the tangent line of the geometric circle,and adds node processing to enrich the optional paths for UAV operation and optimize the paths.As the Dijkstra algorithm is used as the the best path searching algorithm,and the lowest total cost is set as the goal,a UAV optimal operation path is searched and compared with the A* algorithm.Simulation experiments verify the effectiveness of the proposed model and the improved method.They reduce the noise impact of UAV operation and the operation cost,and improve the safety and efficiency of the operation.The results indicate that the optimal operation altitude of the example UAV,a biplane medium-sized UAV with a mass of 15 kg and a paddle disk area of about 1.313 m2,is 40 m,and its operation minimum total cost is 5.42;compared with the results in the other altitude layers,the total operation cost is reduced by 37.56%at most and 5.91%at least.关键词
城市交通/无人机/噪声保护区/运行坠地风险/改进Dubins/路径规划Key words
urban traffic/unmanned aerial vehicle(UAV)/noise protection zone/operating and crash risk/improved Dubins/path planning分类
交通工程引用本文复制引用
李亚飞,赵瑞..城市复杂环境下多目标无人机路径规划研究[J].南京航空航天大学学报,2024,56(6):1002-1012,11.基金项目
中央高校基本科研业务费项目中国民航大学专项资助(3122024055). （3122024055）
