Urban low-altitude unmanned aerial vehicle path planning method considering safety risk and noise influence

Abstract

The invention discloses an urban low-altitude unmanned aerial vehicle path planning method considering safety risk and noise influence. The method comprises the following steps of: selecting noise experiment data with high stability as original data; approximating an unmanned aerial vehicle noise source as a point sound source; according to a non-directional point sound source geometric divergence attenuation formula, calculating noise sound pressure levels at different distances from an unmanned aerial vehicle; modeling according to the characteristics of different functional areas of a city, setting an environmental noise limit value for each functional area, establishing a city low-altitude three-dimensional airspace graph, and rasterizing the city low-altitude three-dimensional airspace graph; constructing a multi-target path planning model based on safety risk and noise influence; and solving the multi-objective planning model to obtain a group of Pareto solution sets. According to the urban low-altitude unmanned aerial vehicle path planning method, the unmanned aerial vehicle path which meets the urban noise standard and the obstacle avoidance requirement and is low in operation risk can be planned, and therefore reasonable operation of the unmanned aerial vehicle under the influence constraint of existing urban noise is achieved.

Description

technical field [0001] The invention belongs to the technical field of urban air traffic management, and in particular relates to a path planning method for urban low-altitude unmanned aerial vehicle considering safety risk and noise influence. Background technique [0002] With the advancement of low-altitude airspace reforms and the increasing use of drones, it has become a current development trend to promote drones to enter low-altitude cities and make drones widely used in urban environments. UAV path planning technology, as the technical support of UAV autonomous flight and UAV low-altitude traffic management, has become a hot technical research field. [0003] Although there are a lot of research on UAV path planning, there are few UAV path planning researches focusing on the specific scene of urban low-altitude environment, and such research mainly takes the shortest path and the minimum safety risk as the planning goals. However, drones need to consider more aspect...

AI Technical Summary

Problems solved by technology

[0003] Although there are a lot of research on UAV path planning, there are few researches on UAV path planning that focus on the specific scene of urban low-altitude environment, and this kind of research mainly takes the shortest path and the minimum safety risk as the planning goal.

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