| The outbreak of sudden natural disasters will cause damage to the basic communication facilities in the affected areas,resulting in communication interruption in the affected areas.On the one hand,the lack of communication will seriously affect the information interaction between the emergency area and the command center,which will cause great trouble to the normal development of the whole disaster rescue operation.On the other hand,it will aggravate the psychological panic of the affected people and even lead to a series of extreme events.At the same time,the distribution of communication resources will also lead to the sense of injustice of the affected people.The emergency rescue equipment that can be used by UAV equipment suppliers participating in disaster operation management is difficult to fully meet the needs of the affected people.The scheduling and allocation of emergency resources in the case of shortage of emergency rescue equipment is also considered by emergency decision makers.UAVs play an increasingly important role in emergency rescue work.Studying the locationrouting problem of emergency relay communication UAVs is of great significance for timely recovery of post-disaster communication,effectively alleviating the psychological panic and unfairness of the affected people,and realizing humanitarian rescue.This paper studies the problem of emergency relay communication after disasters,and decomposes the UAV location-path optimization problem into two stages: location and path planning.Firstly,based on Adams’ fairness theory,the fairness evaluation index is introduced.Considering the coverage limitation of UAV relay communication,the distribution of cluster points of affected users and the unfairness of affected people,a multi-objective location model is constructed to maximize the system throughput and minimize the fair loss of affected people.The simulated annealing algorithm based on k-means is designed to solve the model.Then,based on the above location optimization problem,the UAV path optimization problem considering the shortage of emergency rescue equipment is studied.Considering the distribution of disaster demand points and the unfairness of the affected people due to the difference in the arrival time of emergency communication rescue,combined with the F-S unfair aversion utility model and the time satisfaction function,the fair utility function of the affected people is constructed.According to the fairness theory,the fair loss function is constructed,and multi-objective path planning model is established with the efficiency goal of minimizing the system rescue time and the fair loss value of the affected people as the fair goal.An improved annealing algorithm is designed to solve the model.Finally,the 2017 Jiuzhaigou earthquake is selected as the case background,and an example is constructed.The location model and path planning model are simulated and solved to verify the validity and feasibility of the model.Multi-objective analysis and parameter sensitivity analysis are performed to obtain an applicable emergency rescue plan.The results show that the model and the algorithm designed in this paper are feasible and effective,and can solve the satisfactory solution in the acceptable time range.The fair loss function constructed in the location model and the path planning model can quantify the fairness perception of the affected people.Through the multi-objective solution analysis,it is verified that there is a contradiction between the fairness optimization goal and the efficiency optimization goal.Through parameter sensitivity analysis,it is found that there is an optimal value for the number of UAV rescue equipment in the location stage and the path planning stage,and after exceeding this value,the optimization goal has no obvious gain effect.The obtained location scheme and path planning scheme can provide different decision schemes for emergency decision makers with different decision preferences. |
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