长沙理工大学学报（自然科学版）2025，Vol.22Issue(4)：78-92,15.DOI:10.19951/j.cnki.1672-9331.20250515003
异构无人机群两级协同物流配送调度优化
Optimization of two-level collaborative logistics distribution scheduling for heterogeneous unmanned aerial vehicle swarms
摘要
Abstract
[Purposes]To address the issues of short flight endurance,low payload,and ground traffic limitations in single unmanned aerial vehicle(UAV),a two-level collaborative logistics distribution structure using heterogeneous UAV swarms across the entire airspace was proposed.This aims to enhance delivery efficiency through hierarchical resource scheduling,thus breaking the limitation in the traditional"UAV+vehicle"collaboration mode.[Methods]A two-level collaborative scheduling model was established with the goal of minimizing the total flight distance.Large transport unmanned aerial vehicles(l-UAVs)were responsible for long-distance transfers and the launch/retrieval of express unmanned aerial vehicles(e-UAVs),while e-UAVs handled the final delivery.A three-phase hybrid heuristic algorithm was designed:a dynamic weight constraint K-means++clustering algorithm was employed to divide customer points into clusters and determine launch points;an improved ant colony optimization algorithm(ACO)was used to optimize the paths of l-UAVs,and a tabu search algorithm(TS)was adopted to plan the delivery paths of e-UAVs.[Findings]Solomon dataset-based experiments show that the ACO+CS combination algorithm takes the lead in flight distance and time optimization.Sensitivity analysis indicates that the system performs best when e-UAVs have a payload of 8 kg,proving the model's robustness.[Conclusion]The proposed"l-UAV+e-UAV"two-level collaboration mode avoids ground traffic bottlenecks via the entire airspace link.Its dynamic recovery mechanism and combined optimization algorithms significantly shorten delivery time,offering an efficient scheduling scheme for low-altitude logistics networks.关键词
异构无人机群/两级协同配送/协同调度优化/蚁群算法/禁忌搜索算法Key words
heterogeneous unmanned aerial vehicle swarm/two-level collaborative distribution/collaborative scheduling optimization/ant colony optimization/tabu search分类
交通工程引用本文复制引用
柳伍生,余玉竹..异构无人机群两级协同物流配送调度优化[J].长沙理工大学学报（自然科学版）,2025,22(4):78-92,15.基金项目
国家自然科学基金项目(61773077) （61773077）
教育部人文社科规划基金项目(23YJAZH089) National Natural Science Foundation of China(61773077) （23YJAZH089）
Humanities and Social Sciences Planning Fund of the Ministry of Education(23YJAZH089) （23YJAZH089）
