Research On Parallel Distribution Path Planning Of Vehicle And UAV Considering Flight Path

With the progress of drone technology and the construction and development of smart city,cases of drone delivery in cities continue to emerge,and the “vehicle +UAV”delivery mode is also being studied and practiced.However,in densely populated cities with complex environments,it is difficult to guarantee the safety of drone flight and the delivery is subject to many restrictions.Therefore,this paper conducts correlation research on the UAV track planning and the combined delivery path planning of vehicle and UAV,the real flight track and corresponding distance of UAV in urban scenario are taken as the precondition and basic data of combined distribution path planning,which not only ensures the safe flight of UAVs in cities,but also improves the rationality and scientificity of combined distribution path planning.The specific research contents are as follows:(1)Relevant theoretical analysis.Analyzes the definition of UAV,classification rules of UAV,development status of UAV delivery at home and abroad,advantages and disadvantages of combined distribution of vehicle and UAV,and applicable scenarios of combined distribution mode.It is determined that the vehicle-UAV parallel distribution model is more suitable for urban takeout,fresh food,medicine and other delivery fields.(2)Research on UAV track planning.The real urban space model of Jinshui District of Zhengzhou city is constructed,and the UAV track planning model is established with the minimum flight length as the goal and the UAV’s maneuverability and urban space environment as the constraints,the heuristic function and pheromone update rules of ant colony algorithm are adjusted,and an improved ant colony algorithm based on track planning problem is designed.(3)Research on vehicle-UAV parallel distribution path planning.A vehicle-UAV parallel distribution path planning model is established with the objective of minimizing the comprehensive cost and the constraints of loading weight,loading volume,track distance,time and other factors.Based on the idea of "destroy and repair" in adaptive large neighborhood search(ALNS)algorithm,an improved genetic algorithm with destruction operator and repair operator is designed.(4)Case analysis.Taking vaccine delivery in Jinshui District of Zhengzhou city as an example,the UAV track planning and vehicle-UAV parallel distribution path planning are simulated.By comparing the solution results before and after the adding UAVs and the algorithm improvement,the feasibility of introducing unmanned vehicle in urban delivery and the effectiveness of the improved genetic algorithm are verified;through sensitivity analysis,the corresponding relationship between the maximum loading weight,maximum flight distance and delivery cost of UAV is obtained.There are 36 figures,16 tables and 66 references in this paper.