华中科技大学学报（自然科学版）2023，Vol.51Issue(12)：14-19,6.DOI:10.13245/j.hust.238475
基于改进元胞自动机算法的物流无人机航路规划
Route planning for logistics unmanned aerial vehicle based on improved cellular automata algorithm
摘要
Abstract
Aiming at the route planning problem for logistics unmanned aerial vehicle(UAV)in urban low-altitude environment,an improved cellular automata algorithm was proposed by considering complex airspace,UAV operational risks and performance.Firstly,the grid method was utilized to model the environment to obtain the grid attributes and risks,and the operational risks of UAV were evaluated.Then,the cellular state values were updated to obtain the cellular steps based on environmental information and evolution rules.In addition,cost function was introduced to backtracking search the feasible cell,and the initial route was generated by considering the UAV performance constraints and backtracking conditions.Finally,the route optimization method was adopted to optimize the initial route,and the final planned safe routes were obtained.The research results show that the improved cellular automata algorithm can reduce the number of turns and make the route planning more smooth through route optimization.Compared with the traditional algorithm,the route length generated by the improved cellular automata algorithm is reduced by 12.76％on average,and the route risk is reduced by 13.92％on average,which realizes the accurate planning of safe and efficient routes for UAV in the complex urban environment.关键词
航空运输/航路规划/元胞自动机/无人机/风险评估Key words
air transportation/route planning/cellular automata/unmanned aerial vehicle/risk assessment分类
航空航天引用本文复制引用
李姗,张洪海,刘皞..基于改进元胞自动机算法的物流无人机航路规划[J].华中科技大学学报（自然科学版）,2023,51(12):14-19,6.基金项目
国家自然科学基金资助项目(71971114). （71971114）
