城市复杂环境下蜂窝接入式无人机多层次路径规划方法  

Multi-level Path Planning Method for Cellular Access UAV in Complex Urban Environment

作　　者：张添翼 徐文翔 罗喜伶[1,2] 周家柳 王钢 ZHANG Tianyi;XU Wenxiang;LUO Xiling;ZHOU Jialiu;WANG Gang(College of Electronic Information Engineering,Beihang University,Beijing 100191 China;Hangzhou Innovation Institute,Beihang University,Hangzhou 310051 China)

机构地区：[1]北京航空航天大学电子信息工程学院,北京100191 [2]北京航空航天大学杭州创新研究院,浙江杭州310051

出　　处：《西华大学学报（自然科学版）》2024年第6期14-18,共5页Journal of Xihua University:Natural Science Edition

基　　金：浙江省尖兵计划(2022C01055)。

摘　　要：近年来蜂窝接入式无人机在解决传统无人机模型的局限性方面被广泛应用,但还未形成有效应对城市多建筑群及突发障碍物环境下的路径规划方法。本文提出一种新的蜂窝式无人机多层次路径规划方法,由连通性感知的全局规划层和无碰撞的局部规划层组成,全局规划以地面基站信号覆盖范围为规划单元,基于图论算法求解最优宏观路径,以提高求解效率,局部规划侧重飞行避障,以改进的DQN算法求解最优无碰撞飞行路径。仿真实验表明,相较于传统方法,该方法能将飞行距离有效缩短16.02%,并将求解效率提升76.6%,满足复杂城市环境下的无人机寻路需求,为复杂城市环境中的无人机路径规划提供了一种有效的解决方案。In recent years cellular access UAVs have been widely used in addressing the limitations of traditional UAV models.However,the related research has not yet resulted in an effective path planning method for urban multi-building complexes and sudden obstacle environments.In this paper,we propose a new UAV multi-level path planning framework,which consists of a connectivity-aware global planning layer and a collision-free local planning layer.The global planning takes the ground base station signal cov-erage as the minimum planning unit and solves the optimal macro path based on the graph theory algorithm to improve the solution efficiency,while the local planning focuses on flight obstacle avoidance.An im-proved DQN algorithm is used to solve the optimal collision-free flight path.Simulation experiments were carried out.The results show that the proposed method can effectively reduce the flight distance by 16.02%and improve the solution efficiency by 76.6%compared with the traditional method.The method can meet the UAV pathfinding requirements in complex urban environments.Through the above hierarchical plan-ning,the framework provides an effective solution for UAV path planning in complex urban environments.

关 键 词：路径规划 分层模型 蜂窝接入式无人机 图论算法 改进的DQN算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]