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Title:: Study of the Planning of UAV Visual Trajectory on Mountainous Plateau:Take the Shangri-La-Benzilan air line as an example

作者:: 邓树荣¹; 陈维锋²; 张方浩¹; 曹彦波¹; 杜浩国¹; 余庆坤¹; 和仕芳¹; (1.云南省地震局,云南昆明 650224; 2.四川省地震局,四川成都 610041)

Author(s):: DENG Shurong¹; CHEN Weifeng²; ZHANG Fanghao¹; CAO Yanbo¹; DU Haoguo¹; YU Qingkun¹; HE Shifang¹; (1. Yunnan Earthquake Agency,Kunming 650224,Yunnan,China)(2. Sichuan Earthquake Agency,Chengdu 610041,Sichuan,China)

Keywords:: mountainous areas on the plateau; trajectory planning for UAV; Google Earth; visual map; Shangri-La to Benzilan

摘要:: 高原山地环境山脉较高,普通无人机在航拍获取地震灾情时很难飞越大型山脉。通过对高原山地地震特征进行分析,阐述障碍物通视图的基本原理,并以香格里拉—奔子栏航线为例进行通视图航线规划,采用迪克斯屈拉(Dijkstra)算法求出航线起飞点到目标点的最短路径,最后利用Google earth软件绘制出最优航线。通视图航线规划为无人机飞越大型山脉或避开障碍物提供了一种较好的航线规划方法。

Abstract:: On the mountainous plateau,civil Unmanned Aerial Vehicles(UAVcan hardly fly over the large mountain ranges when they are applied into the aerial survey for earthquake-disaster information acquisition. In this paper,we firstly analyzed the features of earthquake disasters on the mountainous plateau,and then according to the theory of the visual map,we planned a UAV visual trajectory from Shangri-La to Benzilan located in northwest Yunnan Province. We obtained the shortest path from the starting point to destination by Dijkstra’s Algorithm and designed an optimal flight route for UAV by Google Earth software. The planning of visual trajectory proves to be an ideal approach for the UAV to bypass obstacles or fly over large mountain ranges.