面向城市飞行安全的无人机离散型多路径规划方法

为了提高无人机（UAV）在城市环境中运行的安全性，且能生成多条备选路径，提出一种离散型城市环境下基于无人机飞行安全的多路径规划方法。根据定义的城市环境模型、无人机的飞行规则和安全性原则，建立无人机飞行安全性分析模型和离散型多路径规划问题的数学模型。为提高算法的收敛速度和解的优质性，以及使算法能够同时输出多条路径，针对蚁群（ACO）算法的运行机制，设计聚类算子，提出改进聚类蚁群（CIACO）算法。实验结果表明，所提方法能够快速的收敛输出多条风险值较低的飞行路径。

Risk-based discrete multi-path planning method for UAVs in urban environments

A risk-based Unmanned Aerial Vehicle (UAV) multi-path planning method is proposed to improve the safety of UAV operations and generate multiple alternative flight paths in discrete urban environments. According to the proposed model of urban environments, flight rules, and principles of safety, a safety analysis model and a multi-path planning model are established respectively. A Clustering Improved Ant Colony Optimization (CIACO) algorithm is employed to enhance algorithm performance on convergence rate and solution quality. In this algorithm, the multi-path planning problem is solved by designing a cluster mechanism and improving original Ant Colony Optimization (ACO) algorithm. Simulation studies show that the proposed method can generate multiple flight paths with low risks at fast convergence rates.