A Ground-Risk-Map-Based Path-Planning Algorithm for UAVs in an Urban Environment with Beetle Swarm Optimization
Xuejun Zhang,
Yang Liu,
Ziang Gao
et al.
Abstract:This paper presents a path-planning strategy for unmanned aerial vehicles (UAVs) in urban environments with a ground risk map. The aim is to generate a UAV path that minimizes the ground risk as well as the flying cost, enforcing safety and efficiency over inhabited areas. A quantitative model is proposed to evaluate the ground risk, which is then used as a risk constraint for UAV path optimization. Subsequently, beetle swarm optimization (BSO) is proposed based on a beetle antennae search (BAS) that considers… Show more
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