关键词: 无人机, 路径规划, 城市环境, 遮挡, 拉格朗日松弛算法

Abstract: It proposes a path planning algorithm based on an urban building block model for Unmanned Air Vehicle（UAV for short）.The proposed algorithm mainly contains two aspects. First the algorithm simulates the buildings in urban environment with cylinders, so it’s able to calculate the block area of the relative position between the buildings and UAV. In addition, the total shading area isn’t the addition of each shading area, instead it’s a union set. The algorithm calculates the union set by using a program. Second, after calculating the curved surface of UAV’s flight plane, this algorithm proposes an optimal path planning method based on Lagrange relaxation of UAV. The path is a polygonal line along the equant diagonal line on the searching area of UAV. The shading area of this path is minimal. The Matlab simulation result suggests this algorithm is efficient.

Key words: Unmanned Air Vehicle（UAV）, path planning, urban environment, blocked, Lagrange relaxation algorithm