基于风险地图的城市物流无人机路径规划研究  

Research on Global Path Planning Method for Urban Logistics UAV Based on Risk Maps

作　　者：曲欣宇 叶博嘉[1] 王华中 肖宇[1] QU Xin-yu;YE Bo-jia;WANG Hua-zhong;CHENG Yu(Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China)

机构地区：[1]南京航空航天大学,江苏南京211000

出　　处：《航空计算技术》2024年第1期87-91,共5页Aeronautical Computing Technique

基　　金：国家自然科学基金与民航基金联合项目资助(U1933119);南京航空航天大学研究生科研与实践创新计划项目资助(xcxjh20220737)。

摘　　要：近年来物流无人机技术迅猛发展,但城市低空空域的复杂性、电磁环境的干扰以及城市内居民的生命财产安全都对物流无人机在城市的推广提出挑战。在此背景下,研究评估无人机运行综合风险并生成的风险地图,以无人机运输安全性、经济性和路径平滑程度为目标规划无人机全局路径,并增加对无人机航线保护区结构的约束。在原始NSGA III算法的基础上对航路点选择机制、交叉和变异操作进行改进,使算法更适应路径规划的需求。实验证明,模型能有效地避开禁飞区,确保路径的多样性、经济性和安全性,为物流运输经营者和低空空域监管方提供高质量、多样化的备选路径,满足不同决策者需求,为无人机城市物流活动的安全高效运行提供有效的解决方案。In recent years,the technology of logistics UAV has been rapidly developing.However,the complexity of urban low altitude airspace,interference from the electromagnetic environment,and the safety of life and property of urban residents have posed challenges to the promotion of logistics UAV in cities.Against this backdrop,the study evaluates the comprehensive risks associated with UAV operations and generates risk maps,aiming to plan the global path of UAV with objectives of transportation safety,economic efficiency,and smoothness of the route,adding constraints on the structural protection zones for UAV flight paths.Improvements have been made to the route point selection mechanism,crossover,and mutation operations based on the original NSGA III algorithm,making the algorithm more adaptable to the needs of route planning.Empirical evidence demonstrates that the model and algorithm can effectively avoid no fly zones,ensuring the diversity,economic viability,and safety of the routes.They provide high quality and diversified alternative routes for logistics transportation operators and low altitude airspace regulators,meeting the needs of various decision makers and offering an effective solution for the safe and efficient operation of UAV logistics activities in cities.

关 键 词：物流无人机 城市低空空域 全局路径规划 风险地图 

分 类 号：V328[航空宇航科学与技术—人机与环境工程] O242[理学—计算数学]