Collaborative Distribution Path Planning Considering UAV Operational Risks
Aiming at the problem of collaborative delivery path planning between UAV and vehicle in cities,considering the risk of falling casualties and noise impact caused by UAV flying,the UAV path segmentation method is designed,and the corresponding quantitative model is used to calculate the UAV fall casualty risk and noise impact degree;The UAV load limit,regional noise emission limit and UAV endurance limit are introduced as constraints,and a dual-objective UAV-vehicle cooperative distribution path planning model with the minimum economic cost and risk cost as the objective function is constructed.A non-dominated sorting genetic algorithm(NSGA-Ⅱ)with elitist strategy is designed to solve the model.The results show that compared with the traditional vehicle distribution model,the proposed model can save the economic cost of distribution and reduce the operational risk of UAV effectively.The effect is more significant in the distribution network with smaller scale,more uniform distribution and more medium-low risk distribution nodes.
transportation planningUAV-vehicle collaborative distributionpath planningNSGA-Ⅱrisk of falling casualtynoise impact
NETL
NSTL
万方数据
