Low-altitude urban flight planning for small unmanned aircraft systems (UASs) accurate vehicle kinodynamics, environment maps, and risk models to assure that flight plans consider the urban landscape as well as airspace constraints. This paper presents a suite of motion planning metrics designed for small UAS urban flight and defines map-based and path-based metrics to holistically characterize motion plan quality. Proposed metrics are examined in the context of representative geometric, graph-based, and sampling-based motion planners applied to a multicopter small UAS. A novel multi-objective heuristic is proposed and applied for graph-based and sampling motion planners at four urban UAS flight altitude layers. Monte Carlo case studies in a New York City urban environment illustrate metric map properties and planner performance. Motion plans are evaluated as a function of planning algorithm, location, range, and flight altitude.

小型无人机系统 (UAS) 的低空城市飞行规划精确的车辆运动动力学、环境地图和风险模型，以确保飞行计划考虑到城市景观和空域限制。本文提出了一套专为小型 UAS 城市飞行设计的运动规划指标，并定义了基于地图和基于路径的指标，以全面表征运动规划质量。在应用于多旋翼小型 UAS 的代表性几何、基于图形和基于采样的运动规划器的上下文中检查建议的度量。提出了一种新的多目标启发式方法，并将其应用于四个城市 UAS 飞行高度层的基于图和采样的运动规划器。纽约市城市环境中的 Monte Carlo 案例研究说明了度量地图属性和规划器性能。