城市复杂环境下多目标无人机路径规划研究
Research on Multi-target UAV Path Planning in Urban Complex Environments
李亚飞 1赵瑞1
作者信息
- 1. 中国民航大学空中交通管理学院,天津 300300
- 折叠
摘要
针对当前无人机(Unmanned aerial vehicle,UAV)在城市范围内运行的噪声、成本与安全问题,对空域进行高度层划分,并在空气动力学等约束条件下,提出了基于噪声保护区的运行成本与坠地风险模型,满足UAV标准运行条件的同时,不仅降低其对环境和地面人群的噪声影响,还降低其运行成本与坠地风险.在此基础上,基于噪声保护区,运用改进Dubins路径规划方法,将Dubins路径规划思想与几何圆的切线相结合,增设节点处理,丰富UAV运行可选路径,并对路径进行优化处理.以Dijkstra算法为搜索最佳路径算法、总成本最低为目标,搜索一条UAV最佳运行路径,并与A*算法进行研究比对.仿真实验验证了所提模型和改进方法的有效性,降低了UAV运行噪声影响,缩减了运行成本,提高了运行的安全性和效率.据算例得出结果:双旋翼中型UAV(质量约15 kg,桨盘面积约1.313 m2)最佳运行高度为40 m,其运行最低总成本为5.42,较其余高度层运行总成本最高减少37.56%,最低减少5.91%.
Abstract
Aiming at the noise,cost and safety problems of current unmanned aerial vehicle(UAV)operation within cities,this paper divides the airspace into layers by altitudes and proposes an operation cost and crash risk model based on noise protection zones under aerodynamic and other constraints.This model satisfies the standard operation conditions of UAVs,and reduces the noise impact on the environment and the ground population,as well as operation cost and crash risk.Thus,based on the noise protection zone,the improved Dubins path planning method is used.It combines the Dubins path planning idea with the tangent line of the geometric circle,and adds node processing to enrich the optional paths for UAV operation and optimize the paths.As the Dijkstra algorithm is used as the the best path searching algorithm,and the lowest total cost is set as the goal,a UAV optimal operation path is searched and compared with the A* algorithm.Simulation experiments verify the effectiveness of the proposed model and the improved method.They reduce the noise impact of UAV operation and the operation cost,and improve the safety and efficiency of the operation.The results indicate that the optimal operation altitude of the example UAV,a biplane medium-sized UAV with a mass of 15 kg and a paddle disk area of about 1.313 m2,is 40 m,and its operation minimum total cost is 5.42;compared with the results in the other altitude layers,the total operation cost is reduced by 37.56%at most and 5.91%at least.
关键词
城市交通/无人机/噪声保护区/运行坠地风险/改进Dubins/路径规划Key words
urban traffic/unmanned aerial vehicle(UAV)/noise protection zone/operating and crash risk/improved Dubins/path planning引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据