Research On UAV Path Planning Method For Logistics Distribution

In recent years,with the advent of the new retail era,the logistics industry has developed rapidly,but in rural environments with underdeveloped infrastructure,terminal distribution has always been a problem that plagues the development of the logistics industry.In this context,the industry proposes to use logistics UAVs to solve the problem of rural logistics terminal distribution,and path planning technology has always been a major research focus in the field of UAVs.Logistics UAV path planning refers to finding a flyable path with the least cost from the starting point to the target point under the condition of meeting the physical constraints of the UAV.Due to the complex delivery environment of logistics UAVs and the many constraints on the UAVs themselves,how to establish an accurate planning space model and how to select efficient planning algorithms have become key elements in solving path planning problems.Based on the fruit fly optimization algorithm and the artificial potential field method,this paper proposes a multi-strategy fusion fruit fly optimization algorithm and improved artificial potential field method,and studies the three-dimensional path planning of logistics UAVs.The main research contents are as follows:First,mathematical modeling of logistics UAV path planning,including physical performance constraints of logistics UAVs,digital maps of the flight environment,flight path representation and path evaluation indicators.It focuses on the establishment of a threedimensional mathematical model of the flight environment.The reference terrain,mountain threats and weather threats in the planning space are fused to obtain a three-dimensional digital map of the equivalent flight space.This paved the way for subsequent static path planning and dynamic path planning.Secondly,study the 3D static path planning of logistics UAVs based on multi-strategy fusion fruit fly optimization algorithm.Based on the basic FOA,improved schemes of chaotic initialization strategy,adaptive step size strategy and simulated annealing strategy are proposed,and the improved FOA is applied to the three-dimensional static path planning of logistics UAVs.In the same scenario,five bio-inspired algorithms including improved FOA and basic FOA were used to simulate logistics UAV path planning.The simulation results verify the effectiveness and robustness of FOA in static path planning.Finally,study the 3D dynamic path planning of logistics UAV based on improved artificial potential field method.Aiming at the problems of local optimal value and unreachable target in traditional APF,solutions of rotating repulsion and improved repulsion function are proposed,and the improved algorithm is applied to dynamic path planning.In the same scenario,the traditional APF and the improved APF are simulated for dynamic path planning for static sudden obstacles and dynamic sudden obstacles.The simulation results verified the effectiveness of the improved APF in dynamic path planning,and proved the rationality of the logistics UAV path planning scheme combining dynamic and static.