基于需求的城市低空无人机航路网络构建方法

Demand-based Route Network Construction Method for Urban Low-altitude UAV

针对城市低空无人机运行需求不断增加的问题,综合考虑城市区域交通需求、空域环境以及无人机性能等限制条件,以最小化网络节点、最大化覆盖需求点和需求量为目标,提出了一种城市低空无人机航路网络构建方法.建立网络节点生成模型和航路网络构建模型;通过改进的greedy算法生成网络节点;结合使用k近邻(k-Nearest Neighbor,K-NN)和Prims算法构建无人机航路网络;选取上海地区物流业务需求量数据进行仿真验证,并运用复杂网络相关指标分析所构建的航路网络性能.结果表明:本文提出的城市低空无人机航路网络构建方法可以同时实现干线和支线航路网络的构建,且干线航路网络实现了网络全连通,还可以结合无人机任务需求设置网络节点实现航路网络灵活规划.

Aiming at the increasing demand of urban low-altitude UAV operation,considering the constraints of urban regional traffic demand,airspace environment and UAV performance,a method for constructing urban low-altitude UAV route network was proposed with the goal of minimizing network nodes and maximizing the coverage of demand points and demand.Network node generation model and route network model were constructed,and network nodes were generated by improved greedy algorithm.Combined with k-Nearest Neighbor(K-NN)and Prims algorithm,the UAV route network was constructed.The demand data of logistics business in Shanghai was selected for simulation verification,and the performance of the constructed route network was analyzed by using the related indicators of complex network.The results show that the urban low-altitude UAV route network construction method proposed in this paper can realize the construction of both trunk and branch route networks at the same time,and the trunk route network can be fully connected.In addition,network nodes can be set according to the UAV mission requirements to realize flexible route network planning.