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 considers regional risk assessment is proposed. Firstly, airspace discretized based on rasterization, then characteristics environmental are combined quantify value obtain 3D map. The path taken as cost, particle swarm optimization-beetle antennae search (PSO-BAS) algorithm used plan spatial route, it effectively reduces generated redun dancy. Finally, cubic B-spline curve smooth ned discrete path. A flyable with continuous curvature pitch angle generated. simulation results show can exchange for lower at cost. At same time, redundancy low, continuously change. It meets performance constraints.