@inproceedings{e0fa230a6b794a10b0aef5f3637230d0,
title = "Efficient Hybrid Route Planning for UAV in Layered Low-Altitude Airspace",
abstract = "This paper presents an efficient hybrid route planning algorithm for unmanned aerial vehicles (UAVs) in layered low-altitude urban airspace. By combining variable-resolution A* grid search and a corridor-based visibility graph, and modeling obstacles as axis-aligned bounding boxes (AABBs), the algorithm rapidly generates safe and feasible routes while reducing computational complexity. Airspace stratification transforms the 3D planning problem into a simplified 2D task. Experimental results show that the proposed method achieves near real-time performance and significantly reduces computation time compared to traditional approaches, maintaining route safety and quality in dense urban environments. This makes the algorithm well-suited for large-scale UAV operations.",
keywords = "Flight pipe, Low-altitude economy, Route planning",
author = "Wenguo Zhang and Shechuan Duan and Zhangwei Feng and Xinjun Li",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2027.; 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025 ; Conference date: 31-10-2025 Through 03-11-2025",
year = "2027",
doi = "10.1007/978-981-92-4392-1\_49",
language = "英语",
isbn = "9789819243914",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "608--620",
editor = "Xiaoduo Li and Yichen Li and Zhi Feng",
booktitle = "Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies",
address = "德国",
}