UAV 2D Path Planning Considering Ground Suitability for Flying Safety in Digital Twin

Abstract. The utilization of various UAVs such as facility inspection and delivery is increasing. Ensuring safety in carrying out various UAV missions is an important issue related to human and property damage. Safe operation of UAVs flying autonomously along pre-located routes requires safe route planning to prevent collisions between aircraft in consideration of ground and air obstacles. Pass flight is also essential to minimize damage in the event of a crash. This paper deals with the optimal UAV 2D routing plan considering ground compatibility for flight safety. High ground compatibility here means that the damage caused by the crash is less than when it is not. In this paper, we first defined dynamic and static obstacles. Next, we derived ground compatibility considering dynamic and static obstacles. We used estimation algorithms and land use data to calculate ground compatibility values for flight safety, and through experiments, we calculated an optimal 2DUAV route plan for flight safety.