低空環境下的航路規劃研究

Study on Flight Route Planning for Low Altitude Environment

王銘偉(Ming-Wei Wang)

指導教授 ： 呂文祺

國立虎尾科技大學/工程學院/飛機工程系航空與電子科技碩士班/碩士(2016年)

摘要

台灣多山少寬廣地的特性，加上平原區人口稠密的聚集，使得小型飛行器可飛行之區域極為分散與零碎且多數區域不乏涵蓋山脈等危險地形。為了因應低空環境航路規劃之需求，本論文探討二維平面航路規劃方法，利用幾何Voronoi多邊形圖合適的分割特性與Dijkstra搜索法得到全域最佳路徑結果，並擴展航路演算法以解決低空環境規劃常遇到的問題，例如針對於禁限建之飛航空域產生虛擬邊界威脅點來使規劃路徑保持在許可空域；同時使用等高線地形數據作為規劃之依據，產生適合在山區安全飛行的路徑；並簡化龐大的輸入資料，使演算法得以在嵌入式系統上順利運行。

關鍵字

航路規劃 ； Voronoi圖 ； Dijkstra演算法 ； 等高線 ； 空域 ； 虛擬邊界 ； 嵌入式系統

並列摘要

Taiwan island has mountainous terrains and narrow plains with popularity urban area which makes the flyable airspace for light aircraft dispersible and fractional with some danger regions of high mountains. This research aims to develop flight route planning algorithms to generate feasible and optimal flight route by combining Voronoi diagram and Dijkstra’s algorithm. Then the extended algorithm is also proposed to solve the problems of flight route generation at low altitude environment. The virtual boundary technique is proposed to avoid the prohibited airspace for planning. Furthermore, this technique can extended to give approximate terrain contours to avoid in the airspace. The proposed algorithms have been validated by simulation, and performance has been verified by the implementation of algorithms over the ARM-based embedded system.

並列關鍵字

Route planning ； Voronoi diagram ； Dijkstra’s algorithm ； Terrain contours ； Airspace ； Virtual boundary ； Embedded system

參考文獻

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