Transactions of Nanjing University of Aeronautics & Astronautics
An Air Route Planning Model of Unmanned Aerial Vehicles Under Constraints of Ground Safety
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Abstract:
With the rapid growth of the number and flight time of unmanned aerial vehicles （UAVs）， safety accidents caused by UAVs flight risk is increasing gradually. Safe air route planning is an effective means to reduce the operational risk of UAVs at the strategic level. The optimal air route planning model based on ground risk assessment is presented by considering the safety cost of UAV air route. Through the rasterization of the ground surface under the air route， the safety factor of each grid is defined with the probability of fatality on the ground per flight hour as the quantitative index. The air route safety cost function is constructed based on the safety factor of each grid. Then， the total cost function considering both air route safety and flight distance is established. The expected function of the ant colony algorithm is rebuilt and used as the algorithm to plan the air routes. The effectiveness of the new air route planning model is verified through the logistical distribution scenario on urban airspace. The results indicate that the new air route planning model considering safety factor can greatly improve the overall safety of air route under small increase of the total flight time.
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Clc Number:
TN925
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