城市低空物流无人机飞行计划预先调配

doi:10.12305/j.issn.1001-506X.2023.09.19

Abstract

Abstract:

In view of the problem of logistics unmanned aerial vehicle (UAV) flight plan allocation in urban environment, with the goal of minimizing UAV transportation cost and delay cost, a multi-constraint logistics UAV flight plan pre-allocation model is established. Considering the priority of cargo type, the priority of logistics company and the priority of delivery time, a comprehensive priority is proposed. A flight plan pre-allocation algorithm based on the comprehensive priority is designed. Using campus distribution as a simulation environment for verification, the model and algorithm can generate conflict-free flight schedules and realize pre-differentiated flight plan allocation. The experimental results show that the cost of each flight plan is reduced by 21.69% and 26.58% respectively compared with the task priority allocation and the first come first service allocation. When the comprehensive priority weight combination is 0.2, 0.4, and 0.4, the lowest cost of each flight plan is 5.42 yuan, and the allocation result is the best.

Key words: air transportation, flight plan allocation, comprehensive priority, logistics unmanned aerial vehicle (UAV)

CLC Number:

Honghai ZHANG, Zhenping REN, Ouge FENG, Fei WANG, Hao LIU. Logistics unmanned aerial vehicle flight plan pre-allocation in urban low-altitude airspace[J]. Systems Engineering and Electronics, 2023, 45(9): 2802-2811.

Figures/Tables 12

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References 31

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参数	取值
飞行速度v/(m·s^-1)	8
单位运输成本C_d/(元·kg^-1·km^-1)	0.24
单位延误成本C_p/(元·s^-1)	0.17
最长等待时间T_m/s	120
无人机最远航程d_max/m	2 865
无人机最大载重q_max/kg	6
最长飞行时间T_fly^max/min	16
最小起飞时间间隔ΔT_dep/s	10
最小到达时间间隔ΔT_arr/s	10
最小交叉点时间间隔ΔT_safe/s	10
R1航路距离/m	1 008.53
R2航路距离/m	1 104.94
R3航路距离/m	885.84
R4航路距离/m	1 258.99
R5航路距离/m	872.99
R6航路距离/m	1 392.31

序号	起飞时间	送达时间	返程时间	交叉时间	返回时间
1	08:00:00	08:01:07	08:01:16	08:01:45	08:02:15
2	08:00:40	08:01:47	08:01:56	08:02:25	08:02:55
3	08:01:20	08:02:27	08:02:36	08:03:05	08:03:35
4	08:02:00	08:03:07	08:03:16	08:03:45	08:04:15
5	08:02:40	08:03:47	08:03:56	08:04:25	08:04:55
6	08:03:20	08:04:27	08:04:36	08:05:05	08:05:35
⋮	⋮	⋮	⋮	⋮	⋮
169	09:53:00	09:54:07	09:54:16	09:54:45	09:55:15
170	09:53:40	09:54:47	09:54:56	09:55:25	09:55:55
171	09:54:20	09:55:27	09:55:36	09:56:05	09:56:35
172	09:55:00	09:56:07	09:56:16	09:56:45	09:57:15
173	09:55:40	09:56:47	09:56:56	09:57:25	09:57:55
174	09:56:20	09:57:27	09:57:36	09:58:05	09:58:35
175	09:57:00	09:58:07	09:58:16	09:58:45	09:59:15

序号	起飞时间	送达时间	返程时间	交叉时间	返回时间
1	08:00:10	08:01:28	08:01:35	08:02:05	08:02:35
2	08:00:50	08:02:08	08:02:15	08:02:45	08:03:15
3	08:01:30	08:02:48	08:02:55	08:03:25	08:03:55
4	08:02:10	08:03:28	08:03:35	08:04:05	08:04:35
5	08:02:50	08:04:08	08:04:15	08:04:45	08:05:15
6	08:03:30	08:04:48	08:04:55	08:05:25	08:05:55
⋮	⋮	⋮	⋮	⋮	⋮
169	09:53:10	09:54:28	09:54:35	09:55:05	09:55:35
170	09:53:50	09:55:08	09:55:15	09:55:45	09:56:15
171	09:54:30	09:55:48	09:55:55	09:56:25	09:56:55
172	09:55:10	09:56:28	09:56:35	09:57:05	09:57:35
173	09:55:50	09:57:08	09:57:15	09:57:45	09:58:15
174	09:56:30	09:57:48	09:57:55	09:58:25	09:58:55

序号	起飞时间	送达时间	返程时间	返回时间
1	08:00:20	08:01:09	08:01:25	08:02:25
2	08:01:00	08:01:49	08:02:05	08:03:05
3	08:01:40	08:02:29	08:02:45	08:03:45
4	08:02:20	08:03:09	08:03:25	08:04:25
5	08:03:00	08:03:49	08:04:05	08:05:05
6	08:03:40	08:04:29	08:04:45	08:05:45
⋮	⋮	⋮	⋮	⋮
171	09:54:00	09:54:49	09:55:05	09:56:05
172	09:54:40	09:55:29	09:55:45	09:56:45
173	09:55:20	09:56:09	09:56:25	09:57:25
174	09:56:00	09:56:49	09:57:05	09:58:05
175	09:56:40	09:57:29	09:57:45	09:58:45

序号	起飞时间	送达时间	返程时间	返回时间
1	08:00:30	08:01:52	08:02:33	08:04:05
2	08:01:10	08:02:32	08:03:13	08:04:45
3	08:01:50	08:03:12	08:03:53	08:05:25
4	08:02:30	08:03:52	08:04:33	08:06:05
5	08:03:10	08:04:32	08:05:13	08:06:45
6	08:03:50	08:05:12	08:05:53	08:07:25
⋮	⋮	⋮	⋮	⋮
170	09:53:30	09:54:52	09:55:33	09:57:05
171	09:54:10	09:55:32	09:56:13	09:57:45
172	09:54:50	09:56:12	09:56:53	09:58:25
173	09:55:30	09:56:52	09:57:33	09:59:05
174	09:56:10	09:57:32	09:58:13	09:59:45

Logistics unmanned aerial vehicle flight plan pre-allocation in urban low-altitude airspace

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计划	公司	货物类型	货物重量/kg	期望送达时间	航路	起飞顺序	起飞时间	送达时间	返回时间
P1	A	数码产品	0.19	08:00-08:03	R1	1	08:00:00	08:01:07	08:02:15
P2	B	普通用品	0.92	08:00-08:05	R1	3	08:01:20	08:02:27	08:03:35
P3	B	普通用品	0.43	08:00-08:07	R1	5	08:02:40	08:03:47	08:04:55
P4	C	普通用品	3.03	08:00-08:05	R1	2	08:00:40	08:01:47	08:02:55
P5	D	普通用品	1.69	08:00-08:07	R1	4	08:02:00	08:03:07	08:04:15
P6	A	文件	0.89	08:00-08:03	R2	1	08:00:10	08:01:28	08:02:35
P7	A	普通用品	2.66	08:00-08:05	R2	4	08:02:10	08:03:28	08:04:35
P8	B	食品生鲜	1.38	08:00-08:03	R2	2	08:00:50	08:02:08	08:03:15
P9	C	普通用品	1.63	08:00-08:03	R2	3	08:01:30	08:02:48	08:03:55
P10	C	其他	0.57	08:00-08:07	R2	5	08:02:50	08:04:08	08:05:15
P11	C	数码产品	1.18	08:00-08:03	R5	2	08:01:00	08:01:49	08:03:05
P12	D	普通用品	1.66	08:00-08:05	R5	4	08:02:20	08:03:09	08:04:25
P13	D	其他	0.89	08:00-08:05	R5	5	08:03:00	08:03:49	08:05:05
P14	D	文件	3.12	08:00-08:05	R5	1	08:00:20	08:01:09	08:02:25
P15	E	数码产品	0.59	08:00-08:05	R5	3	08:01:40	08:02:29	08:03:45
P16	A	食品生鲜	2.6	08:00-08:03	R6	1	08:00:30	08:01:52	08:04:05
P17	A	普通用品	1.4	08:00-08:03	R6	3	08:01:50	08:03:12	08:05:25
P18	A	普通用品	0.86	08:00-08:05	R6	4	08:02:30	08:03:52	08:06:05
P19	E	其他	0.26	08:00-08:07	R6	5	08:03:10	08:04:32	08:06:45
P20	E	普通用品	2.5	08:00-08:05	R6	2	08:01:10	08:02:32	08:04:45

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