基于改进元胞自动机算法的物流无人机航路规划  

Route planning for logistics unmanned aerial vehicle based on improved cellular automata algorithm

作　　者：李姗 张洪海[1] 刘皞[2] LI Shan;ZHANG Honghai;LIU Hao(School of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;School of Mathematics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学民航学院,江苏南京211106 [2]南京航空航天大学数学学院,江苏南京211106

出　　处：《华中科技大学学报（自然科学版）》2023年第12期14-19,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(71971114)。

摘　　要：针对城市低空环境中物流无人机的航路规划问题,提出了一种综合考虑复杂空域限制、无人机运行风险和性能约束的改进元胞自动机算法.首先,采用栅格法对运行环境进行建模,以获取各栅格属性值和危险度,并对无人机运行风险进行评估;然后,基于环境信息依据演化规则更新元胞状态值,进而得到元胞步长;其次,引入代价函数回溯搜索可行元胞,并考虑无人机性能约束和回溯条件生成初始航路;最后,采用航路优化算法对初始航路进行优化,获得最终规划的无人机安全航路.仿真结果表明:改进元胞自动机算法通过航路优化,可减少无人机转弯次数,使得规划航路更为流畅;改进元胞自动机算法较传统算法生成的航路长度平均减少12.76%,航路风险平均减少13.92%,实现了在城市复杂环境中精准规划安全、高效的无人机运行航路.Aiming at the route planning problem for logistics unmanned aerial vehicle(UAV)in urban low-altitude environment,an improved cellular automata algorithm was proposed by considering complex airspace,UAV operational risks and performance.Firstly,the grid method was utilized to model the environment to obtain the grid attributes and risks,and the operational risks of UAV were evaluated.Then,the cellular state values were updated to obtain the cellular steps based on environmental information and evolution rules.In addition,cost function was introduced to backtracking search the feasible cell,and the initial route was generated by considering the UAV performance constraints and backtracking conditions.Finally,the route optimization method was adopted to optimize the initial route,and the final planned safe routes were obtained.The research results show that the improved cellular automata algorithm can reduce the number of turns and make the route planning more smooth through route optimization.Compared with the traditional algorithm,the route length generated by the improved cellular automata algorithm is reduced by 12.76%on average,and the route risk is reduced by 13.92%on average,which realizes the accurate planning of safe and efficient routes for UAV in the complex urban environment.

关 键 词：航空运输 航路规划 元胞自动机 无人机 风险评估 

分 类 号：V279[航空宇航科学与技术—飞行器设计]