Abstract:

In order to reduce the risk of UAV operating in urban areas, the concept of the shadowing effect of urban buildings on UAV was put forward. Firstly, building shadowing model and UAV risk assessment index were established, respcitively. Secondly, the buildings passed by the straight line from the starting point to the end point under the minimum flight height of UAV are determined, and the flight height layer of UAV is divided according to the determined building height. Then, the multi-obstacle avoidance path solution method based on Dubins theory was used to solve the flight path of each high-level UAV. Finally, based on this model, the risk cost of each high level path was quantified and compared to obtain the path with the minimum risk cost and flight altitude. The results show that the path of UAV is different at different flight altitudes, and the number, height and position of the buildings it crosses are also different. The shadowing effect of the buildings is obviously different, too. UAV path planning method considering the shadowing effect of buildings can reduce the risk cost of UAV operation in urban areas.

Key words: buildings, unmanned aerial vehicle (UAV), urban operation, risk cost, shadowing effects, flight altitude