《電子技術(shù)應(yīng)用》
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無人機(jī)城市三維航跡規(guī)劃可視化平臺(tái)設(shè)計(jì)與實(shí)現(xiàn)
電子技術(shù)應(yīng)用
劉剛1,王瑾2,周家柳2,章磊3,王珺珺2,,4,羅喜伶2,,4
1.浙江省交通運(yùn)輸科學(xué)研究院,;2.北京航空航天大學(xué) 杭州創(chuàng)新研究院; 3.杭州迅蟻網(wǎng)絡(luò)科技有限公司,;4.北京航空航天大學(xué)
摘要: 隨著無人機(jī)在城市場(chǎng)景下的廣泛應(yīng)用,,針對(duì)傳統(tǒng)路徑規(guī)劃算法在多個(gè)約束條件下進(jìn)行無人機(jī)三維路徑規(guī)劃時(shí)無法兼顧多種風(fēng)險(xiǎn)、容易陷入局部最優(yōu)等問題,,基于真實(shí)城市建筑物數(shù)據(jù),,考慮地理圍欄限制、人流密集程度和社會(huì)屬性等因素,,構(gòu)建城市場(chǎng)景無人機(jī)運(yùn)行環(huán)境并建立真實(shí)三維環(huán)境模型,,設(shè)計(jì)了基于城市場(chǎng)景的無人機(jī)三維航跡規(guī)劃可視化平臺(tái)。該平臺(tái)構(gòu)建了真實(shí)環(huán)境下城市空域網(wǎng)格,,并對(duì)網(wǎng)格飛行適宜度進(jìn)行了量化分析,,并基于該數(shù)值,采用了改進(jìn)的Lazy Theta*算法對(duì)無人機(jī)航跡進(jìn)行規(guī)劃,。通過可視化平臺(tái)的實(shí)際運(yùn)行,,提供航跡規(guī)劃的三維展示,更好地實(shí)現(xiàn)人機(jī)交互,,是一種無人機(jī)路徑規(guī)劃三維可視化仿真驗(yàn)證的手段,。
中圖分類號(hào):U1 文獻(xiàn)標(biāo)志碼:A DOI: 10.16157/j.issn.0258-7998.234419
中文引用格式: 劉剛,王瑾,,周家柳,,等. 無人機(jī)城市三維航跡規(guī)劃可視化平臺(tái)設(shè)計(jì)與實(shí)現(xiàn)[J]. 電子技術(shù)應(yīng)用,2024,50(9):89-93.
英文引用格式: Liu Gang,,Wang Jin,,Zhou Jialiu,et al. Design and implementation of a 3D UAV trajectory planning visualization platform based on urban scenarios[J]. Application of Electronic Technique,,2024,,50(9):89-93.
Design and implementation of a 3D UAV trajectory planning visualization platform based on urban scenarios
Liu Gang1,Wang Jin2,,Zhou Jialiu2,,Zhang Lei3,Wang Junjun2,,4,,Luo Xiling2,4
1.Zhejiang Scientific Research Institute of Transport,; 2.Hangzhou Innovation Institute,, Beihang University; 3.Hangzhou Antwork Technology Co.,, Ltd.,;4.Beihang University
Abstract: 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.
Key words : urban scenes;Unmanned Aerial Vehicles (UAVs),;trajectory planning,;3D visualization

引言

近年來,無人機(jī)已經(jīng)成為了現(xiàn)代社會(huì)中非常重要的技術(shù)和工具,,在勘測(cè),、偵察、監(jiān)視,、救援和投遞等各個(gè)領(lǐng)域廣泛應(yīng)用[1-5],。其中,基于城市場(chǎng)景的無人機(jī)三維航跡規(guī)劃是無人機(jī)應(yīng)用的重要方向之一,。該方向的研究可以更好地了解城市環(huán)境,,并為城市管理、安全防范,、物流配送等提供支持,。

一般而言,無人機(jī)的三維飛行航跡規(guī)劃是一個(gè)帶有多個(gè)約束條件的復(fù)雜多目標(biāo)優(yōu)化問題[6],?;诔鞘袌?chǎng)景的無人機(jī)航跡規(guī)劃面臨著許多挑戰(zhàn)。例如,,城市中復(fù)雜的地形和建筑物會(huì)對(duì)無人機(jī)的飛行軌跡造成干擾,,從而影響任務(wù)執(zhí)行的效果,。此外,無人機(jī)的能源限制,、通信延遲等問題也會(huì)對(duì)航跡規(guī)劃產(chǎn)生影響,。因此,在復(fù)雜城市場(chǎng)景下,,如何設(shè)計(jì)一種高效可靠的無人機(jī)航跡規(guī)劃系統(tǒng)成為當(dāng)前研究的熱點(diǎn)問題,。

鑒于此,本文設(shè)計(jì)了基于城市場(chǎng)景的無人機(jī)三維航跡規(guī)劃可視化平臺(tái),,主要特點(diǎn)包括:(1)構(gòu)建四維城市風(fēng)險(xiǎn)地圖,,針對(duì)城市空域飛行的適飛度進(jìn)行量化評(píng)估;(2)結(jié)合多種約束條件,,實(shí)現(xiàn)改進(jìn)后的航跡規(guī)劃算法;(3)建立真實(shí)的三維環(huán)境模型,,實(shí)現(xiàn)無人機(jī)三維航跡規(guī)劃的可視化。

最終平臺(tái)能夠?qū)崿F(xiàn)無人機(jī)在復(fù)雜城市環(huán)境下三維航跡規(guī)劃的可視化,,實(shí)現(xiàn)無人機(jī)的高效,、安全、精準(zhǔn)的任務(wù)執(zhí)行,。這對(duì)于無人機(jī)航跡規(guī)劃技術(shù)的研究以及無人機(jī)的應(yīng)用領(lǐng)域擴(kuò)展都有重要意義,。


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作者信息:

劉剛1,王瑾2,,周家柳2,,章磊3,王珺珺2,,4,羅喜伶2,,4

(1.浙江省交通運(yùn)輸科學(xué)研究院,,浙江 杭州 310005;2.北京航空航天大學(xué) 杭州創(chuàng)新研究院,,浙江 杭州 310051,;

3.杭州迅蟻網(wǎng)絡(luò)科技有限公司,浙江 杭州 311121,;4.北京航空航天大學(xué),,北京 100191)


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