Logistics Uav Urban Regional Distribution Route Planning

With the advancement of technology and the rapid development of China’s express logistics industry,the demand for short distance delivery and transportation of goods such as express delivery and takeout in urban areas has rapidly increased,and logistics drones have emerged.Due to the dense building obstacles and complex aerial environment in urban areas,drones are unable to maintain straight flight and need to pass through the middle of building obstacles,resulting in significant safety risks for logistics drones when performing tasks.At the same time,logistics drones need to consider the issue of flight stability when transporting goods,and try to avoid frequent route fluctuations during the flight process.In order to solve the above problems,this paper analyzes the current research on UAV path planning and combines its own research characteristics to determine three indicators to measure the cost of logistics UAV path: the path length of UAV path,the altitude change of UAV path,and the number of UAV attitude adjustments,and establishes a multi-objective function with the minimum total cost of the three indicators.In order to ensure the safety of flight path,this paper designs a new improved grid modeling method,which extends the environmental barrier modeling to a safe distance of one unit,designs the obstacle avoidance function according to the improved grid modeling method,and selects Theta * algorithm for UAV flight path planning.Aiming at the problems of the traditional Theta * algorithm,such as the complex search process of path nodes,the large number of nodes planning the path and the serious fluctuation in the middle of the path,this paper proposes an improved Theta * algorithm.The presetting strategy of line of sight is designed to improve the efficiency of algorithm planning;The actual cost calculation function of the improved algorithm is introduced by introducing the cost function of track altitude change and the cost function of flight attitude adjustment,so that the planned UAV track middle oscillation is reduced and the track is more stable;The obstacle avoidance function is introduced into the algorithm evaluation function to maintain the safe distance between the track and the environmental obstacles and provide a safe buffer for the UAV.Through designing a series of comparative tests,the optimal values of various weights are obtained,and it is concluded that the planning results of the improved Theta * algorithm are not significantly different from those of the traditional algorithm in terms of track length;The altitude change unit of the track is reduced by45.3%,the number of intermediate nodes in the path is reduced by 7.5%,the algorithm planning time is reduced by 11.7%,and the total cost of the track is reduced by 14.3%.The improved Theta * algorithm proposed in this paper effectively solves the problem of logistics UAV distribution route planning in urban areas,which is of great significance for the future application of logistics UAV in practice.