Research Of UAV Safe Flight Path Based On Resident Density Regional Clustering

Since the technology of GPS,Wireless network and mobile sensor positioning have been gradually mature,researchers can get human activity track more conveniently and the accuracy,timeliness and effectiveness of the data obtained have greatly been promoted.While the rise of the mobile intelligent terminal technology,the dependence on mobile intelligent devices has been growing when we enjoy the convenience of the mobile Internet.The internet-connected devices of the internet users have changed from PC a few years ago into mobile intelligent terminals which makes it more convenient for the researchers to mine the daily activity trajectory,real-time coordinate data,etc.The researchers has kept analyzing the users’ activity habits,the traffic conditions of Urban roads and the distribution of hot spots in cities based on the massive obtained data.Meanwhile,the UAV has gradually step in people’ city life due to the mature of UAV control technology,the reduction of manufacturing cost and relieve on low altitude flight restrictions by the government.While the UAV provided people with convenience and high efficiency,there still exist a few problems threatening to the crowd in the flight area during their development in cities such as out of control,air crash,load drop and noise interference.In order to solve the above problems and implement the flight missions of different grades,it is of great importance to put forward a planning solutions for a more safe and environmental-friendly flight trajectory.In this paper,according to the interaction between the people on the ground and UAV in the air,we consider path planning for UAV in crowded place as one of the most important factors.We proposed a method for safe flight trajectory of urban unmanned aerial vehicle based on the distribution of people in the city.As for amateur operator who flying civil consumption level UAV,it is an important guideline in path planning.At the same time,for the operator who flies large commercial UAV,it provides a significant reference.Furthermore,for the development of the UAV distribution logistics research,it also has a high practical value.In this method,two main steps are included:(1)we choose the effective and reliable data of urban population trajectory.Based on the SBC locus data point of residence algorithm,the original crowd trajectory data is processed,and then the stopping point set is extracted from noisy-free and meaningful point.By taking advantage of CFSFDP clustering algorithm,the densely populated region analysis algorithm is used to deal with the data of the resident point again and the local density peak of urban population is obtained.(2)In the process of path planning,the UAV flight path security network topology is obtained by Voronoi method combined with the flight cost.Ant colony algorithm is used to search the optimal path from the optional safe flight path.In this paper,a framework of UAV flight trajectory based on dense urban population is proposed,and also a flight trajectory guidance system based on the research is designed.