Multi-objective constrained low-altitude unmanned aerial vehicle route planning design method

Abstract

The invention discloses a multi-objective constrained low-altitude unmanned aerial vehicle route planning design method, and belongs to the technical field of civil aviation delay analysis. Firstly, an initial airway point and an airway network are set based on urban low-altitude requirements, then constraints such as conflict constraints, three-area constraints and passage requirement constraintsare introduced, and multi-objective function optimization such as airspace capacity, operation cost and operation safety is achieved by moving the airway point and reconstructing the airway network.Therefore, corresponding unmanned aerial vehicle low-altitude airway networks are designed for different low-altitude environments.

Description

technical field [0001] The invention belongs to the technical field of UAV route planning. It constructs waypoints and initial route network according to requirements, sets multiple constraint conditions, and realizes multi-objective function optimization by moving waypoints and reconstructing route network, and then designs UAV low-altitude route network. Background technique [0002] The relevant research on low-altitude UAVs in Xiaguan city in the UTM scenario mainly focuses on flight planning, while less on route network planning. Due to the continuity and complexity of the urban low-altitude airspace, in order to reduce the complexity, the current research on constructing the airspace environment mostly adopts the grid method (Grid) to establish the low-altitude UAV low-altitude flight airspace environment, and the grid representation maps 3D geographic information to In the grid, the airspace environment is first divided into grid blocks, and then according to the way...

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Problems solved by technology

Finally, the density of drones is high, and the dynamic changes are significant. The real-time requirements for the model are relatively high, and the route network may need to be adjusted accordingly at different times.

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