无人机城市三维航迹规划可视化平台设计与实现  

Design and implementation of a 3D UAV trajectory planning visualization plat‐form based on urban scenarios

作　　者：刘刚 王瑾 周家柳 章磊 王珺珺 罗喜伶[2,4] Liu Gang;Wang Jin;Zhou Jialiu;Zhang Lei;Wang Junjun;Luo Xiling(Zhejiang Scientific Research Institute of Transport,Hangzhou 310005,China;Hangzhou Innovation Institute,Beihang University,Hangzhou 310051,China;Hangzhou Antwork Technology Co.,Ltd.,Hangzhou 311121,China;Beihang University,Beijing 100191,China)

机构地区：[1]浙江省交通运输科学研究院,浙江杭州310005 [2]北京航空航天大学杭州创新研究院,浙江杭州310051 [3]杭州迅蚁网络科技有限公司,浙江杭州311121 [4]北京航空航天大学,北京100191

出　　处：《电子技术应用》2024年第9期89-93,共5页Application of Electronic Technique

基　　金：浙江省科技计划项目(2022C01055)。

摘　　要：随着无人机在城市场景下的广泛应用,针对传统路径规划算法在多个约束条件下进行无人机三维路径规划时无法兼顾多种风险、容易陷入局部最优等问题,基于真实城市建筑物数据,考虑地理围栏限制、人流密集程度和社会属性等因素,构建城市场景无人机运行环境并建立真实三维环境模型,设计了基于城市场景的无人机三维航迹规划可视化平台。该平台构建了真实环境下城市空域网格,并对网格飞行适宜度进行了量化分析,并基于该数值,采用了改进的Lazy Theta*算法对无人机航迹进行规划。通过可视化平台的实际运行,提供航迹规划的三维展示,更好地实现人机交互,是一种无人机路径规划三维可视化仿真验证的手段。With the widespread application of Unmanned Aerial Vehicles(UAVs)in urban scenarios,traditional trajectory planning algorithms face challenges in considering multiple constraints for UAVs’3D trajectory planning,such as handling various risks and avoiding local optima.In this study,based on real urban building data,considering Geofence,crowd density,and social attributes,a UAV operating environment in urban settings is constructed,and a real 3D environment model is established.Then a visualization platform for 3D UAV trajectory planning in urban environments is implemented.This platform builds a grid-based urban airspace model and quantitatively analyzes the flight suitability of grids.Based on these analyses,an improved Lazy Theta*algorithm is used for UAV trajectory planning.Through the visualization platform,the 3D display of trajectory planning is provided to better realize human-computer interaction,and it also serves for simulating and verifying 3D UAV trajectory planning in real urban environment.

关 键 词：城市场景 无人机 航迹规划 三维可视化 

分 类 号：U1[交通运输工程]