Research On Uav Distribution Task Planning Based On Urban Scene

In recent years,with the rapid growth of UAV market and the continuous innovation of Unmanned Aerial Vehicle(UAV)application technology,UAV has been applied in many fields.Thanks to the continuous exploration and practice of major logistics manufacturers,UAV distribution technology is becoming more and more mature and its application scenarios are constantly improved,gradually expanding from remote rural areas to urban areas.However,the dense population in urban areas,the complex environment and space make it difficult to guarantee the security,so the operation of UAV in city is still subjected to many restrictions.In view of such restrictions,in order to promote the development of the UAV distribution industry and promote the application of the distribution in some cities,it is necessary to analyze the UAV distribution system on the whole,clarify the development trend and the obstacles,and make efforts to guarantee the operation safety of UAV distribution technologically.Among them,UAV task planning technology,as a necessary support technology for UAV flight,can plan feasible routes and tracks for UAV in space environment,which is not only the prerequisite for UAV to complete the distribution task,but also the important means to guarantee the safety of UAV operation and solve the problem of UAV promotion in urban.This paper focuses on UAV distribution task planning,and designs UAV task planning scheme with the demand of urban UAV distribution as an entry point,and safety and efficiency as the guidance.It mainly studies the two core functions,including task allocation and trajectory planning in UAV task planning,aiming at realizing reasonable planning of distribution task through the function of task allocation,and ensuring the safe flight of UAV in urban by trajectory planning function.Specific study contents are as follows:(1)Theoretical analysis of UAV distribution.The UAV distribution theory is sorted out to clarify UAV performance indicators,application scenarios,distribution methods,development obstacles,etc.,so as to provide specific application scenarios and theoretical basis for UAV task planning.Then,it explains the adaptability of UAV in urban distribution and points out the development direction of UAV in urban distribution.(2)Study on UAV task allocation.In this paper,the UAV distribution theory is used to build the UAV task allocation scenario,and two common scheduling schemes of UAV,including separate UAV and vehicle distribution scheme and "UAV + vehicle" collaborative distribution scheme,are set up.The task allocation model is designed according to the two schemes.Considering the dual objectives of time and cost,and the multiple constraints of load,volume,cruding range and time,a solution method based on improved genetic algorithm is proposed.(3)Study on UAV trajectory planning.Based on the real map of a city,the planning space model is constructed.Considering the impact of UAV flight dynamics and space environment,a trajectory planning model of UAV is established to make the cruding range safe and minimize safety cost.Combined with the trajectory planning model,an improved ant colony algorithm is proposed,and a trajectory planning algorithm is designed to simplify the search space and update the pheromone dynamically.(4)Simulation verification.Based on the data released by the Red Cross Society of Wuqing District,two scheduling schemes of UAV,including separate UAV and vehicle distribution scheme and "UAV + vehicle" collaborative distribution scheme,are set up,and the task allocation of the two schemes is solved.The results show that compared with single distribution,collaborative distribution is more economical and time feasible,but it will occupy UAV transportation resources.According to the result of task assignment,a route of UAV distribution is selected for trajectory planning,and a feasible route of this planning is obtained,which proves that the trajectory planning scheme has better vertical obstacle avoidance ability.After that,a point is randomly selected for trajectory planning,which proves that this planning scheme has better horizontal obstacle avoidance ability,and can provide security for UAV operation in urban.With the urban distribution scenario as an entry point,this paper studies the problem existing in UAV distribution based on the UAV task planning theory.The task allocation and trajectory planning scheme obtained can be used for intelligent scheduling and control of UAV distribution,and this planning results can serve as a reference for UAV airspace management.