A Fast Global Flight Path Planning Algorithm Based on Space Circumscription and Sparse Visibility Graph for Unmanned Aerial Vehicle

Majeed, Abdul; Lee, Sungchang

doi:10.3390/electronics7120375

Cited by 38 publications

(20 citation statements)

References 82 publications

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“…Therefore, how to efficiently and flexibly store and present geographic data is urgent to be considered. According to the investigation, the air route planning environment can be constructed using visibility graph [80], Voronoi diagram [81], [82], probabilistic [83] and cell decomposition [84] methods. The visibility graph method formed routes from a connectivity graph network of a non-directed graph.…”

Section: B Geo-information and Low-altitude Air Routesmentioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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With the rapid expansion in the number of Unmanned Aircraft Vehicles (UAVs) available and the development of modern technologies, the commercial applications of UAVs in urban areas, such as urban remote sensing (RS), express services, urban road traffic monitoring, urban police security, urban air shows and so on, have increased greatly. However, most UAVs, especially light and small civil UAVs, have been operating in low-altitude airspace, and a conflict may exist between increasing the number of UAVs and the limited low airspace. To promote low-altitude airspace resource development and to standardize the operation and management of UAVs in urban regions, some global laws and regulations and key technologies for urban low-altitude applications of UAVs have been implemented. This paper reviews the development of current policies and key technologies concerning safe and efficient operations of the light-and-small civil UAVs in low altitude in urban areas. Discussions are made progressively on measures and methods of airspace restriction, airspace structuring and air route planning in China primarily and the rest of world. After surveying the practical industry tests and the initial studies of air routes, the survey results indicate that the construction of air route networks is a scientific and effective measure to standardize and improve the efficiency of low-altitude UAV operations. From the view point of safety and efficiency, the most valuable direction for UAV regulation in urban regions involves deepening the research which largely relies on urban RS and Geographic Information System (GIS) technology, and application demonstrations of low-altitude public air route networks. INDEX TERMS Low-altitude airspace, RS and GIS for UAV regulation, UAV regulation technology and policy, Urban region, UAV low-altitude air routes.

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Section: B Geo-information and Low-altitude Air Routesmentioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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“…The simulation results were produced and compared on a PC running Windows 10, with a CPU Intel Core i5 of 2.6 GHz and 8.00 GB of RAM, using MATLAB version 9.4.0.81 (R2018a). In simulations of the proposed CPP algorithm, we consider a 25-kg UAV similar to our previous study [55]. We considered both global constraints that are related to the UAV operating environment and local constraints that are related to the UAV.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

A New Coverage Flight Path Planning Algorithm Based on Footprint Sweep Fitting for Unmanned Aerial Vehicle Navigation in Urban Environments

Majeed

Lee

2019

Applied Sciences

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This paper presents a new coverage flight path planning algorithm that finds collision-free, minimum length and flyable paths for unmanned aerial vehicle (UAV) navigation in three-dimensional (3D) urban environments with fixed obstacles for coverage missions. The proposed algorithm significantly reduces computational time, number of turns, and path overlapping while finding a path that passes over all reachable points of an area or volume of interest by using sensor footprints’ sweeps fitting and a sparse waypoint graph in the pathfinding process. We devise a novel footprints’ sweep fitting method considering UAV sensor footprint as coverage unit in the free spaces to achieve maximal coverage with fewer and longer footprints’ sweeps. After footprints’ sweeps fitting, the proposed algorithm determines the visiting sequence of footprints’ sweeps by formulating it as travelling salesman problem (TSP), and ant colony optimization (ACO) algorithm is employed to solve the TSP. Furthermore, we generate a sparse waypoint graph by connecting footprints’ sweeps’ endpoints to obtain a complete coverage flight path. The simulation results obtained from various scenarios fortify the effectiveness of the proposed algorithm and verify the aforementioned claims.

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“…Although the D-Star algorithm and artificial potential field algorithm are suitable for dynamic route planning, they cannot satisfy the constraints on maneuverability of stealth UAV. On the other hand, random search algorithm is employed to settle UAV route planning problems, such as genetic algorithm(GA) [33], [34], particle swarm optimization(PSO) [35]- [37], ant colony algorithm [38]- [40], simulated annealing algorithm [41], [42] and neural network algorithm [43], [44]. Inversely, the real combat environment is composed of various uncertain and dynamic threats, so there is no effective method to address the problem of penetration route planning for stealth UAV in 3D dynamic environment.…”

Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Penetration Path Planning Algorithm for Stealth UAV in 3D Complex Dynamic Environment

Zhang

Dai

et al. 2020

IEEE Access

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In recent years, stealth aircraft penetration path planning has been a significant research subject in the field of low altitude combat. However, previous works have mainly concentrated on the path planning for stealth unmanned aerial vehicle(UAV) in 2D static environment. In contrast, this paper addresses a novel real-time path planning algorithm for stealth UAV to realize the rapid penetration, which aims to devise a route penetration strategy based on the improved A-Star algorithm to address the problems of replanning for stealth UAV in 3D complex dynamic environment. The proposed method introduces the kinematic model of stealth UAV and detection performance of netted radar in the process of low altitude penetration. Additionally, POP-UP threats are adopted into three different threat scenarios, which is closer to the real combat environment. Moreover, further combined with the prediction technique and route planning algorithm, the multi-step search strategy is developed for stealth UAV to deal with POP-UP threats and complete the replanning of the route in different scenarios. Furthermore, the attitude angle information is integrated into the improved A-Star algorithm, which reflects the characteristics of the dynamic radar cross section(RCS) and conforms to the actual flight requirements for the stealth UAV. Finally, the improved A-Star algorithm, the sparse A-Star Search(SAS), and the dynamic A-Star algorithm(D-Star) are respectively adopted to address the problem of penetration route planning for stealth UAV in three different threat scenarios. Numerical simulations are performed to illustrate that the proposed approach can achieve rapid penetration route planning for stealth UAV in a dynamic threat scenario, and verify the validity of the improved A-Star algorithm which is compared to the other two algorithms. INDEX TERMS Stealth unmanned aerial vehicle, dynamic radar cross-section, netted radar, real-time path planning, A-Star algorithm.

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A Fast Global Flight Path Planning Algorithm Based on Space Circumscription and Sparse Visibility Graph for Unmanned Aerial Vehicle

Cited by 38 publications

References 82 publications

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

A New Coverage Flight Path Planning Algorithm Based on Footprint Sweep Fitting for Unmanned Aerial Vehicle Navigation in Urban Environments

A Novel Real-Time Penetration Path Planning Algorithm for Stealth UAV in 3D Complex Dynamic Environment

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