A road-low-altitude cooperative network path planning method and system for urban waterlogging disasters

Abstract

This invention relates to the field of transportation engineering technology and discloses a road-low-altitude cooperative network trajectory planning method and system for urban flooding disasters. The method includes constructing a road-low-altitude dual-layer cooperative network, which includes a low-altitude layer network; performing grid network modeling on the low-altitude layer network and assigning grid hazard values ​​to obtain the hazard level of the low-altitude layer network; using a bidirectional dynamic weighted A* algorithm based on the grid hazard values ​​to obtain the UAV trajectory; and smoothing the obtained UAV trajectory using the B-spline curve method to generate a UAV trajectory with continuous curvature. This invention, by introducing grid hazard assignment and comprehensively considering the influence of obstacles and no-fly zones, quantifies the static risks in the low-altitude flight environment, enabling UAV trajectory planning to proactively avoid high-risk areas, thereby significantly improving flight safety and reliability.

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