Method of UAV route parameters when there are obstacles in megalopolis

Abstract

İn recent years Unmanned Aerial Vehicle (UAV) more attract attention by researcher. This is due to the fact that they have many practice facility in the civil area, especially in the megalopolis. Despite enough work in this field, there are still many unsolved issues. Among issues, in the megalopolis more attract attention of route planning construction of UAVs’ when flight are prohibited (kindergartens, schools, hospitals e.t.c). Density of construction sites, relief complexity requires special scientific and practical approaches problems for ensuring automatically movement of UAVs’ by not passing through these prohibited territories. İn this article is proposed a simple algorithm for reschedule the required trajectory avoiding obstacles when there is relief map. Algorithm is based on intersection of UAVs' line segmented trajectory and boundary of no flight zone polygonal area.  In this case, specifications of creating convex tetragon was used if a polygon's any side intersects with line segmented flight trajectory. Based on the proposed algorithm were conducted calculation operations.  İt was assumed that UAV flying from Gazi University Facullity of Science to Gazi University Halkbank branch.  Using Google Maps, we have identified areas where flights are prohibited from Ankara. Based on the proposed algorithm a program was developed in C# programming language. At the start of the program was entered determined based on the map coordinates of the prohibited territories into database. Based on the proposed algorithm determined a new flight trajectory.  I would also like to point out that the algorithm can be applicable if prohibited territories are any geometric shapes. On the other hand, there are no restriction on the number of obstacles. İf the obstacles are very close to each other, then the algorithm can be applicable by combining them.