城镇化区域无人机低空航路网迭代构建的理论体系与技术路径

徐晨晨, 叶虎平, 岳焕印, 谭翔, 廖小罕

Iterative construction of UAV low-altitude air route network in an urbanized region: Theoretical system and technical roadmap

XU Chenchen, YE Huping, YUE Huanyin, TAN Xiang, LIAO Xiaohan

图5 冲突航路段检测与重规划示意图 注：a与b分别为同一区域栅格环境地图下和对应真实场景下的航路与建筑物冲突航路段(红线)以及重规划航路段(黄线)

Fig. 5 Diagram of collision detection and re-planning of air routes(a and b are the air route that conflicts with buildings (red lines) and re-planned sections (yellow lines) in grid environment map and real scene, respectively.)