UAV safe route planning based on PSO-BAS algorithm
Honghong Zhang, Xusheng Gan, Shuangfeng Li, Zhiyuan Chen
Abstract
In order to solve the current situation that unmanned aerial vehicles (UAVs) ignore safety indicators and cannot guarantee safe operation when operating in low-altitude airspace, a UAV route planning method that considers regional risk assessment is proposed. Firstly, the low-altitude airspace is discretized based on rasterization, and then the UAV operating characteristics and environmental characteristics are combined to quantify the risk value in the low-altitude airspace to obtain a 3D risk map. The path risk value is taken as the cost, the particle swarm optimization-beetle antennae search (PSO-BAS) algorithm is used to plan the spatial 3D route, and it effectively reduces the generated path redun dancy. Finally, cubic B-spline curve is used to smooth the plan ned discrete path. A flyable path with continuous curvature and pitch angle is generated. The simulation results show that the generated path can exchange for a path with a lower risk value at a lower path cost. At the same time, the path redundancy is low, and the curvature and pitch angle continuously change. It is a flyable path that meets the UAV performance constraints.