{'fraction_non_alphanumeric': 0.016905071521456438, 'fraction_numerical': 0.0, 'mean_word_length': 5.209677419354839, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A path planning method of UAV in mountainous environment

In order to promote the application of UAV in remote mountainous areas, this paper proposes a path planning method for UAV in mountainous areas. Firstly, we consider the reference terrain and establish the elliptic cone model of obstacles. The mountain environment model is obtained after the fusion of the two. By considering the horizontal and vertical distances between UAV and obstacles during flight, we calculate the flight influence. Combined with the constraints of flight influence, manoeuvrability and flight environment, a mathematical model was established to optimize the shortest flight path. Finally, the simulation experiment is carried out to solve the model by PSO algorithm, get the UAV path.