Three-dimensional unmanned aerial vehicle safety route planning method

Abstract

The invention discloses a three-dimensional unmanned aerial vehicle safety route planning method. The method comprises the following steps: performing three-dimensional rasterization on a flight airspace space of the unmanned aerial vehicle to obtain a plurality of cube-shaped grids; quantitatively describing the flight risk of the unmanned aerial vehicle in the grid by using the grid safety factor; constructing a route planning total cost evaluation expectation function based on the grid safety factor and the unmanned aerial vehicle route distance; and improving the A * algorithm by taking the route planning total cost evaluation expectation function as a target function of the A * algorithm, performing iterative computation by utilizing the improved A * algorithm, and finally obtaining athree-dimensional expected flight path after double optimization of route safety and route cost. According to the invention, the planned three-dimensional air route of the unmanned aerial vehicle hasthe function of a ground personnel safety barrier. Furthermore, the serious consequence that the unmanned aerial vehicle crashes to injure people is relieved in the strategic stage, and risk relieving is advanced.

Description

technical field [0001] The invention belongs to the technical field of UAV route planning, and in particular relates to a three-dimensional UAV safety route planning method. Background technique [0002] UAV route planning refers to finding the optimal or feasible route from the starting point to the target point and satisfying the UAV performance index under certain constraints. There are two types of UAV route planning technologies. One is UAV path planning research based on expanded numerical algorithms, such as intelligent algorithms such as bionics or particle swarms; the other is path planning research based on graphical algorithms, such as Voronoi diagrams. and Laguerre graphs et al. Existing technologies include research on UAV path planning based on intelligent bionic algorithms such as ant colony and genetic algorithm, UAV path planning based on different algorithms such as gravitational search algorithm and particle swarm, and static and dynamic real-time obstacl...

AI Technical Summary

Problems solved by technology

Although there are many existing UAV route planning methods, there is no route planning method that can effectively take into account the safety risks caused by UAV flight to ground personnel, so that the flight route of UAV has safety attributes, as far as possible Reduce casualties on the ground from drone flights

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