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- W4308337415 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." @default.
- W4308337415 created "2022-11-11" @default.
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- W4308337415 date "2022-10-01" @default.
- W4308337415 modified "2023-09-30" @default.
- W4308337415 title "UAV safe route planning based on PSO-BAS algorithm" @default.
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- W4308337415 doi "https://doi.org/10.23919/jsee.2022.000111" @default.
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