A Risk-Aware Path Planning Strategy for UAVs in Urban Environments

Primatesta, Stefano; Guglieri, Giorgio; Rizzo, Alessandro

doi:10.1007/s10846-018-0924-3

Cited by 102 publications

(52 citation statements)

References 28 publications

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“…In addition, Feng et al provided a more in-depth study of the UAV air route by using a series of key technologies, such as extracting the digital terrain from a LiDAR-based system [72]; further, the automatic construction of air corridor based on laser point cloud data was performed and visualized [73], and a low-altitude airspace warning map [74] and a management platform [75] were generated. Primatesta et al focused on calculating the population risk [76], planning population-risk-based flight path [77], and constructing a real-time risk-aware system based on multi-risk layers [78].…”

Section: A Theoretical System Of the 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: A Theoretical System Of the 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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“…In the application of search and rescue, navigation with collision avoidance is important for both ground and FRs. Approaches such as [ 81 , 83 , 84 , 106 ] and some others such as [ 107 , 108 , 109 , 110 ] have proposed various path planning and reactive navigation algorithms. Although some of them are designed for FRs, such as [ 107 , 108 , 109 ], a fixed altitude is assumed; while few papers studied the much more difficult case of collision-free 3D navigation [ 111 , 112 , 113 , 114 , 115 ].…”

Section: Discussion and Future Research Directionsmentioning

confidence: 99%

“…With this regard, there is a necessity to extend the available 2D methods to the 3D scenario. Furthermore, 3D risk-aware navigation is more preferred to avoid no-flight areas, such as populated areas and those with chemical plants [ 107 , 108 , 109 ]. Risk-aware navigation especially suits urban environments, where a relatively larger number of obstacles and no-flight areas exist.…”

Section: Discussion and Future Research Directionsmentioning

confidence: 99%

Towards the Internet of Flying Robots: A Survey

Huang

Savkin

2018

Sensors

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The Internet of Flying Robots (IoFR) has received much attention in recent years thanks to the mobility and flexibility of flying robots. Although a lot of research has been done, there is a lack of a comprehensive survey on this topic. This paper analyzes several typical problems in designing IoFR for real applications, including wireless communication support, monitoring targets of interest, serving a wireless sensor network, and collaborating with ground robots. In particular, an overview of the existing publications on the coverage problem, connectivity of flying robots, energy capacity limitation, target searching, path planning, flying robot navigation with collision avoidance, etc., is presented. Beyond the discussion of these available approaches, some shortcomings of them are indicated and some promising future research directions are pointed out.

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“…The concept of risk cost and risk cost map has been studied in safety management and risk assessment [11][12], and some researchers have introduced risk cost map into UAV path planning [13][14][15]. Primatesta et al [13] proposed two algorithms for UAV path planning based on risk awareness to tackle dynamic risks and threats in operation environments.…”

Section: Introductionmentioning

confidence: 99%

Risk Assessment Model for UAV Cost-Effective Path Planning in Urban Environments

Pang

Dai

et al. 2020

IEEE Access

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Increasing use of Unmanned Aerial Vehicle (UAV) in urban environments poses to an increased risk of fallen UAVs impacting people and vehicles on the ground, as well as colliding with manned aircraft in the vicinity of airports. Risk management of UAV flights for safe operations is essential. We proposed a comprehensive risk assessment model for UAV operation in urban environments. Three risk categories (people, vehicles, and manned aircraft) were considered and each risk cost was quantified using collision probability. We adjusted the risk costs in various magnitudes to a same scale and conducted a sensitivity analysis to determine the optimal coefficients of the three risk cost models. We then computed the total risk and generated a risk cost map for path planning. Modified path planning algorithms were used to produce a cost-effective path, and we compared their performances in terms of total risk cost and computational time. Lastly, we performed simulations to validate the feasibility and effectiveness of our proposed risk assessment model. The results show that the risk-cost-based path planning method can generate safer path for UAV operations than the traditional shortest-distance-based method. Our proposed model can be extended to complex urban environments by including more relevant parameters and data. INDEX TERMS Unmanned aerial vehicle, risk assessment model, risk cost map, path planning, urban environments Fuqing Dai holds the Dean's Chair in Air Traffic Management School at the Civil Aviation University of China. He is also a professor focusing on the research of airspace planning and management, flight procedures design and optimization, UTM and ATM systems. Professor Dai obtained his master's degree from Ecole Nationale de l'Aviation Civile, France and bachelor's degree from Nanjing University, China.

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A Risk-Aware Path Planning Strategy for UAVs in Urban Environments

Cited by 102 publications

References 28 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

Towards the Internet of Flying Robots: A Survey

Risk Assessment Model for UAV Cost-Effective Path Planning in Urban Environments

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