UAV safe route planning based on PSO-BAS algorithm  

作　　者：ZHANG Honghong GAN Xusheng LI Shuangfeng CHEN Zhiyuan 

机构地区：[1]Air Traffic Control and Navigation College,Air Force Engineering University,Xi’an 710051,China [2]National Key Laboratory of Air Traffic Collision Prevention,Xi’an 710051,China

出　　处：《Journal of Systems Engineering and Electronics》2022年第5期1151-1160,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61601497);the Natural Science Basic Research Plan in Shaanxi Province of China(2022JM-412);the Air Force Engineering University Principal Fund(XZJ2020005).

摘　　要：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 redundancy.Finally,cubic B-spline curve is used to smooth the planned 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.

关 键 词：unmanned aerial vehicle(UAV) low-attitude airspace mission planning risk assessment particle swarm optimization beetle antennae search(BAS) cubic B-spline 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] V279[自动化与计算机技术—控制科学与工程]