UAV safe route planning based on PSO-BAS algorithm

In order to solve the current situation that unmanned aerial vehicles(UAVs)ignore safety indicators and cannot guarantee safe operation when operating in low-altitude airspace,a UAV route planning method that considers regional risk assessment is proposed.Firstly,the low-altitude airspace is discretized based on rasterization,and then the UAV operating characteristics and environmental characteristics are combined to quantify the risk value in the low-altitude airspace to obtain a 3D risk map.The path risk value is taken as the cost,the particle swarm optimization-beetle antennae search(PSO-BAS)algorithm is used to plan the spatial 3D route,and it effectively reduces the generated path redundancy.Finally,cubic B-spline curve is used to smooth the planned discrete path.A flyable path with continuous curvature and pitch angle is generated.The simulation results show that the generated path can exchange for a path with a lower risk value at a lower path cost.At the same time,the path redundancy is low,and the curvature and pitch angle continuously change.It is a flyable path that meets the UAV performance constraints.