引用本文:张启瑞,魏瑞轩,何仁珂,茹常剑,周凯.城市密集不规则障碍空间无人机航路规划[J].控制理论与应用,2015,32(10):1407~1413.[点击复制]
ZHANG Qi-rui,WEI Rui-xuan,HE Ren-ke,RU Chang-jian,ZHOU Kai.Path planning for unmanned aerial vehicle in urban space crowded with irregular obstacles[J].Control Theory and Technology,2015,32(10):1407~1413.[点击复制]
城市密集不规则障碍空间无人机航路规划
Path planning for unmanned aerial vehicle in urban space crowded with irregular obstacles
摘要点击 3013  全文点击 2342  投稿时间：2015-04-30  修订日期：2015-07-26
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DOI编号  10.7641/CTA.2015.50351
  2015,32(10):1407-1413
中文关键词  无人机  城市空间  不规则障碍  局部回溯  航路规划
英文关键词  unmanned aerial vehicle  urban space  irregular obstacles  local trace-back  path planning
基金项目  中国航空科学基金项目(20135896027), 国家自然科学基金项目(61573373)资助.
作者单位E-mail
张启瑞 空军工程大学 415117343@qq.com 
魏瑞轩* 空军工程大学 rxwei369@sohu.com 
何仁珂 空军工程大学  
茹常剑 空军工程大学  
周凯 空军工程大学  
中文摘要
      随着国家低空开放和民用无人机的普及, 小型无人机在城市空间的使用将会越来越广泛, 城市空间的密集 不规则障碍环境对无人机的安全提出了严峻挑战. 针对传统的全局航路规划方法在密集不规则障碍环境中容易陷 入局部“死区”而导致飞行危险的问题, 通过设计当前航点到无人机视界的航路代价函数, 建立了局部视界范围内 的最优回溯模型, 提出基于局部回溯和广度优先思想相结合的综合路径规划方法. 仿真对比实验表明, 本文提出的 航路规划方法避免了传统的全局规划方法存在的局部“死区”问题, 可在密集障碍环境中为无人机规划出安全可 飞的航路, 使无人机能够规避任意不规则形状的危险障碍, 提高了无人机在城市低空环境中飞行的安全性.
英文摘要
      With the opening of national low-altitude airspace to the public and the popularization of unmanned aerial vehicles (UAVs), small UAVs will be widely used in urban space where crowded irregular buildings on the ground producing serious challenges for UAVs’safety. To avoid the flight-risk occurred in the dead zone produced when employing traditional method in global path planning, we first make use of the cost function of the distance between the current waypoint to UAVs’field of view (FOV) to build the optimal local trace-back model within the range of FOV; and then, by combining the local trace-back model with the breadth-first idea, we develop an integrated path planning method. Comparing simulation results of experiments, we find that the proposed method not only avoid the problem of dead zone produced in applying the traditional global planning methods, but also provides the safe flyable path for UAVs in environments with arbitrary irregular hazard obstacles, thus improving the safety of UAVs flying in the urban low-altitude airspace.