| In recent years,unmanned aerial vehicles(UAVs)have attracted wide attention at home and abroad because of their convenient operation,low cost and high mobility,and have been widely used in military and commercial fields.With the rapid development of express delivery industry and the great demand of users for express delivery,people have higher and higher demand for the prescription of express delivery,which makes UAV has a broad prospect in express industry.Therefore,the major logistics companies at home and abroad are competing to develop express delivery drones.Automatic cruise technology is one of the core and key technologies of express UAV.On the basis of the conventional ant colony algorithm(ACO),an ant colony algorithm with black area and an algorithm to mix AG-ACO with black area are studied and designed in this paper,taking the automatic cruise of express UAV as the research object,and based on the conventional ant colony algorithm(ACO),an ant colony algorithm with black area is designed.Effectively solve the problem that express UAV needs to avoid the no-fly zone and obstacles actively in automatic cruise,and then consider the important factor of altitude,expand the two-dimensional ant colony algorithm.A 3D ant colony algorithm for route planning of express delivery UAV is studied.The main contents are as follows:(1)A four-rotor UAV for delivery is designed and manufactured.By adding some common modules of conventional UAV,the UAV has the functions of express delivery,automatic cruise and cruise along the designated track.(2)On the basis of comparative analysis of genetic algorithm and ant colony algorithm,ant colony algorithm is selected as the basic algorithm of UAV track planning,which solves the problem of UAV multi-task track planning.Through the comparison and analysis of the effect of the two algorithms,it can be proved that the ant colony algorithm is more suitable for the route planning of express delivery UAV.(3)In this paper,an improved ant colony algorithm with black area is designed.The algorithm can make a reasonable track correction for the no-fly zone and generate a safe and feasible track by using the coordinates of the black area vertex.It solves the problem that the standard ant colony algorithm can not bypass the no-fly zones and obstacles.According to the simulation results and physical tests,the feasibility and reliability of the improved ant colony algorithm with black area are proved.(4)The hybrid algorithm of A * and ant colony is used to solve the problems of large amount of data,low utilization of space and unreasonable track planning when the number of black areas is large and complex,and the reliability and rationality of the track are further improved.The simulation results show that the hybrid algorithm can make the track approach to the theoretical minimum.(5)According to the corresponding characteristics of two-dimensional space and three-dimensional space,the corresponding flight winding strategy should be adopted for different altitude.Therefore,a three-dimensional ant colony algorithm is studied to plan the flight path of express UAV in three-dimensional space.The simulation results show that the track is more flexible and efficient than the two-dimensional track.Based on the analysis of the simulation results of each algorithm and the test of the real object,it is proved that the corresponding algorithm or hybrid algorithm can plan a reasonable track,which solves the problem of low efficiency of track planning in space,whether in two-dimensional plane or in three-dimensional space.It improves the task execution level of UAV,and has certain application value and market prospect. |
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