ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Real time dual layer path planning of unmanned aerial vehicles for urban low altitude logistics distribution
Received date: 2024-12-06
Revised date: 2024-12-26
Accepted date: 2025-03-28
Online published: 2025-04-17
Supported by
Natural Science Foundation of Jiangsu Province(BK20241967);National Natural Science Foundation of China(U2233204);Qing Lan Project of Higher Learning Institations in Jiangsu Province
To improve the safety and public acceptance of logistics drones in complex urban low altitude environments， a real-time dual layer path planning method for urban low-altitude logistics distribution drones is proposed. Firstly， the spatial environment is characterized using grid method and digital elevation model， and a risk perception model for urban low altitude environment based on third-party social risks is established. Secondly， a real-time dual layer path planning model for low altitude logistics drones is proposed. For a single drone in the pre tactical stage， the upper layer model aims to minimize third-party social risk costs and navigation time costs， and an improved A* algorithm is used to plan the optimal expected trajectory. For the coordinated operation of unmanned aerial vehicles in the tactical stage， the lower-level model considers the conflict problem between multiple unmanned aerial vehicles and designs a differentiated conflict resolution strategy based on yaw and hover. With the goal of minimizing the deviation from the optimal expected trajectory cost， a real-time path optimization model for unmanned aerial vehicles is established. Experiments have shown that the upper-level model can reduce operational risk by 15.12% compared to Trajectory Planning considering the Flight Duration（TPFD）， and by 10.61% compared to Trajectory Planning considering the Risk Cost（TPRC）. The lower-level model can effectively generate four-dimensional trajectories with low operational risk， short navigation time， and no conflicts. For a fleet of 50 logistics drones and 100 non-cooperative drones operating in coordination， conflicts can be resolved 60 times within a 10 minutes simulation period， with a flight conflict resolution rate of 100%. The additional risks， flight time， flight distance， and number of grid crossings caused by this can be controlled below 3%.
Dan CHEN , Cheng TANG , Yu XIE , Yuanyuan MA , Tianshu XU . Real time dual layer path planning of unmanned aerial vehicles for urban low altitude logistics distribution[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2025 , 46(16) : 331621 -331621 . DOI: 10.7527/S1000-6893.2025.31621
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