中圖分類號：U1 文獻標志碼：A DOI: 10.16157/j.issn.0258-7998.234419 中文引用格式： 劉剛，王瑾，周家柳，等. 無人機城市三維航跡規(guī)劃可視化平臺設計與實現(xiàn)[J]. 電子技術應用，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
