华南理工大学学报（自然科学版）2026，Vol.54Issue(6)：74-87,14.DOI:10.12141/j.issn.1000-565X.250421
台风灾害下城市应急无人机三维路径规划与调度
3D Path Planning and Scheduling for Urban Emergency UAV Operations Under Typhoon Disasters
摘要
Abstract
With advances of low-altitude flight technology,unmanned aerial vehicles(UAVs)leveraging their three-dimensional maneuverability and low dependence on ground infrastructure,have become an effective means to im-prove response efficiency in disaster emergency material delivery.Focusing on urban emergency material delivery in the context of typhoon disasters,this study develops a three-dimensional path planning model that jointly incorpo-rates wind-field disturbances,dynamical energy consumption variations,and communication constraints,establish-ing a multi-objective optimization framework that couples energy consumption and timeliness.Path obstacle avoi-dance constraints were realized using 3D cuboid obstacle modeling and axis-aligned bounding box(AABB)intersec-tion detection,and these constraints were embedded into the NSGA-Ⅱ multi-objective evolutionary algorithm.The algorithm was further enhanced via hybrid encoding and penalty mechanism.In the constructed urban building complex scenarios and complex wind-field environment,compared with the MOEA/D method,comparative experi-ments against MOEA/D show that the improved NSGA-Ⅱ achieves an average improvement in the Hypervolume(HV)indicator of approximately 67.6%,exhibits higher solution stability and yields a more widely distributed solu-tion set,demonstrating superior algorithmic solving capability and stability.Three types of sensitivity experiments are conducted:wind speed variations,communication range changes,and the distribution of remote mission points.An adaptive dynamic scheduling mechanism is formulated for the initial emergency response phase,post-disaster re-covery phase,and normal operation phase,providing theoretical support and technical reference for UAV emer-gency logistics scheduling under extreme weather conditions.This study offers key decision-making insights for in-tegrating the low-altitude economy with resilient urban emergency management systems.关键词
低空物流/无人机集群/三维避障/控制决策/路径规划Key words
low-altitude logistics/UAV swarms/three-dimensional obstacle avoidance/control decision/path planning分类
交通工程引用本文复制引用
董智捷,钱媛媛,叶文睿,李旺,顾天奇..台风灾害下城市应急无人机三维路径规划与调度[J].华南理工大学学报（自然科学版）,2026,54(6):74-87,14.基金项目
国家自然科学基金优秀青年科学基金(海外)项目 （海外）
广东省智能交通系统重点实验室开放基金项目(202503001) （202503001）
东南大学博士研究生创新能力提升计划项目(CXJH_SEU 25202)Supported by the National Natural Science Fund for Excellent Young Scientists Fund Program(Overseas)and the Key Laboratory of Intelligent Transportation Systems of Guangdong Provincial(202503001) （CXJH_SEU 25202）
