Multi-Tier 3D Trajectory Planning for Cellular-Connected UAVs in Complex Urban Environments
Author:
Luo Xiling12, Zhang Tianyi12, Xu Wenxiang2, Fang Chao34ORCID, Lu Tongwei4ORCID, Zhou Jialiu2
Affiliation:
1. School of Electronic and Information Engineering, Beihang University, Beijing 100191, China 2. Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China 3. Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China 4. Hubei Key Laboratory of Intelligent Robot (Wuhan Institute of Technology), Wuhan 430205, China
Abstract
Cellular-connected unmanned aerial vehicles (UAVs) present a viable solution to address communication and navigation limitations by leveraging base stations for air–ground communication. However, in complex urban scenarios with stringent communication requirements, achieving asymmetrical control becomes crucial to strike a balance between communication reliability and flight safety. Moreover, existing cellular-connected UAV trajectory planning algorithms often struggle to handle real scenes with sudden and intricate obstacles. To address the aforementioned challenges, this paper presents the multi-tier trajectory planning method (MTTP), which takes into account air–ground communication service assurance and collision avoidance in intricate urban environments. The proposed approach establishes a flight risk model that accounts for both the outage probability of UAV-ground base station (GBS) communication and the complexity of flight environments, and transforms the inherently complex three-dimensional (3D) trajectory optimization problem into a risk distance minimization model. To optimize the flight trajectory, a hierarchical progressive solution approach is proposed, which combines the strengths of the heuristic search algorithm (HSA) and deep reinforcement learning (DRL) algorithm. This innovative fusion of techniques empowers MTTP to efficiently navigate complex scenarios with sudden obstacles and communication challenges. Simulations show that the proposed MTTP method achieves a more superior performance of trajectory planning than the conventional communication-based solution, which yields a substantial reduction in flight distance of at least 8.49% and an impressive 10% increase in the mission success rate. Furthermore, a real-world scenario is chosen from the Yuhang District, Hangzhou (a southern Chinese city), to validate the practical applicability of the MTTP method in highly complex operating scenarios.
Funder
Zhejiang ‘JIANBING’ R&D Project Postdoctoral Research Foundation of China Open Fund of the Hubei Key Laboratory of Intelligent Robots project
Subject
Physics and Astronomy (miscellaneous),General Mathematics,Chemistry (miscellaneous),Computer Science (miscellaneous)
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