Research On Logistics UAV Path Planning Based On Flight Procedure Design

The take-off and landing of UAVs is the most important link in the entire flight process,and how to ensure flight safety is the key to studying flight program design issues.On the basis of ensuring safe flight,designing scientific and reasonable flight procedures can improve aircraft operation efficiency and increase airspace capacity.With the development of drone technology and the gradual opening of low-altitude airspace,many companies are exploring the possibility of using drones for transportation.Due to the complexity of urban low altitude and some restricted flight areas,there are problems such as high flight cost,high energy consumption and low operation efficiency,which hinders the development of logistics UAVs in urban logistics operations.Based on the safety,economy and energy consumption of flight procedures,this thesis establishes a UAV path optimization model and improves the A* algorithm for path planning.First,based on ensuring the safety of flight procedure overrun,the Archimedes spiral equation is introduced to establish the PBN turning section safety protection zone model,the flight program design method is studied,the flight program of each flight segment is designed according to the requirements,the principle of Beidou navigation and positioning system is introduced,and the model is established to reduce the impact of error on positioning.Second,the characteristics of the obstacle avoidance algorithm of mainstream logistics UAV flight program are analyzed,and the Reich model is improved according to the actual needs of UAV flight to establish a side,longitudinal and vertical collision risk model,and the factors affecting UAV error are analyzed.Thirdly,the logistics UAV path planning algorithm and 3D modeling theory are studied,the grid method is used to construct the operating environment model of the simulated UAV in 2D and 3D scenes,the UAV model is established and its performance is constrained and limited,a noise-based flight program restricted area model is proposed,and the UAV operation evaluation system is constructed.Fourth,combined with the advantages of the ant colony algorithm,the A* algorithm is improved by optimizing the heuristic function,judging the search based on the visibility of the target node,adding the raster hazard factor,adding the cargo weight penalty coefficient,and dynamic weighting function,aiming at the safety and economy of the flight program,establishing a path planning model,and using the improved algorithm to verify the feasibility of the model.Through the comparative analysis of MATLAB simulation experiments,the improved A* algorithm consumes less time,the path planning is shorter and smoother,and the number of iterations is reduced,which reduces the calculation time by 39.16% and the planning path length by 26.90%.The improved algorithm proposed in this thesis makes the path more reasonable,safe and efficient,which has practical significance for urban drone transportation.