Aerial Robotics in Urban Environments: Optimized Path Planning and SITL Assessments

摘要

This paper focuses on guiding aerial robots through city environments. The goal is to create an optimal and safe flight path, avoiding obstacles in urban landscapes with tall buildings. We combine the A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm and the Medial Axis algorithm to develop a well-balanced trajectory that ensures both safety and efficiency. To better understand narrow passages in cities, we analyze and preprocess two-dimensional maps. The A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm forms the basis, while the Medial Axis algorithm identifies secure routes through tight spaces. Additionally, we explore new methods to seamlessly integrate multiple path planning algorithms, offering a comprehensive solution for navigating urban airspace. Our proposed method is rigorously evaluated using simulation tools, mimicking real-world scenarios. The results consistently demonstrate superior safety and efficiency compared to alternative algorithms. Even when subjected to atmospheric disturbance tests, our approach maintains adherence to critical operational constraints, ensuring enhanced safety and shorter flight paths. This study significantly contributes to advancing aerial robotics in urban areas, providing a promising way to enhance safety and efficiency in complex environments.