Route network planning for drone logistics in urban environment
The UAV system has one or more UAVs and an operating device. The operating device is connected to the UAVs through wireless communication. The management method includes: generating a plurality of position cells; prioritizing a plurality of OD pairs and generates a delivery sequence; output one or more route information according to the position cells and the delivery sequence; and transmitting the route information to one or more UAV. Each of the position cells has a cell type and a cell cost.
1 . An operating device for unmanned aerial vehicle (UAV) route planning and management for a plurality of UAVs, the operating device comprising a processor and a wireless transferring module, the operating device is configured to:
connect, through the wireless transferring module, to a plurality of UAVs for data communication;
generate, by the processor, a plurality of position cells, wherein each of the position cells is a logical unit of space defined by a geographical boundary, and each of the position cells has a cell type and a cell cost;
prioritize, by the processor, a plurality of origin-destination (OD) pairs, and generate, by the processor, a delivery sequence;
generate, by the processor, a plurality of route information according to the position cells and the delivery sequence, each of the plurality of the route information being assigned to a corresponding UAV of the plurality of UAVs; and
transmit, through the wireless transferring module, the route information to the respective UAVs for controlling their autonomous flight navigation according to the route information;
wherein each of the route information indicates a plurality of position cells that are connected to each other, and the corresponding UAV of the plurality of UAVs navigates through airspace corresponding to the position cells indicated by the route information;
wherein each of the route information further indicates one or more position cells that are not indicated by another one of the route information, using a first indication;
wherein one or more position cells that are indicated by a second indication provided from a previous route information are treated as obstacles for which the corresponding UAV of the plurality of UAVs shall not navigate through airspace corresponding to position cells that are treated as obstacles, and wherein the first indication and the second indication are established prior to the route information being transmitted to the corresponding UAV of the plurality of UAVs; and
wherein the processor is further configured to generate a route network comprising the plurality of route information and integrating the previous route information assigned to other UAVs, and wherein the route network is established prior to transmitting the route information to the plurality of UAVs.
2 . The operating device of claim 1 , wherein each of the route information has a plurality of line segments, and each of the line segments fulfills:
∥ x 1 −x 2 ∥ 2 >d sep
where x 1 ∈[x i 1, j 1, k 1 m ,x i 1, j 1, k 1 m+1 ], x 2 ∈[x i 2, j 2, k 2 m ,x i 2, j 2, k 2 m+1 ], (i 1 ,j 1 ,k 1 )≠(i 2 ,j 2 ,k 2 ), and d sep is the minimum length of the line segments, and [x i 1, j 1, k 1 ,x i 1, j 1, k 1 m+1 ] is a line segment of a route from waypoint x i 1, j 1, k 1 m to waypoint x i 1, j 1, k 1 m+1 , and [x i 2, j 2, k 2 m , x i 2, j 2, k 2 m+1 ] is a line segment of a route from waypoint x i 2, j 2, k 2 m to waypoint x i 2, j 2, k 2 m+1 , and x i 1, j 1, k 1 m =(x i 1, j 1, k 1 m , y i 1, j 1, k 1 m , z i 1, j 1, k 1 m )∈ 3 is coordinates of the m th waypoint of the k 1 the route connecting airport i 1 and j 1 , and x i 2, j 2, k 2 m =(x i 2, j 2, k 2 m , y i 2, j 2, k 2 m , z i 2, j 2, k 2 m )∈ 3 is coordinates of the m th waypoint of the k 2 the route connecting airport i 2 and j 2 .
3 . The operating device of claim 1 , wherein the generation of the position cells by the processor comprising:
discretizing a workspace into the position cells;
setting cell types of portion of the position cells that corresponded to no flying area as obstacle;
setting cell type of another portion of the position cells that corresponded to safe flying area as first area;
setting cell type of another portion of the position cells that corresponded to crowded area as second area; and
setting cell type of another portion of the position cells that corresponded to emergency only area as emergency.
4 . The operating device of claim 1 , wherein each of the position cells contains one or more attributes.
5 . The operating device of claim 4 , wherein in each of the position cells, the attributes may contain permitted information, and the permitted information indicates flyable layer, flyable height, or non-flyable area.
6 . The operating device of claim 4 , wherein in each of the position cells, the attributes may contain space cost, and the space cost is corresponded to the safety of UAV flying in an area or the safety of people living in the area.
7 . The operating device of claim 1 , every position cell has a unique identification.
8 . The operating device of claim 1 , wherein every OD pair comprises an original location information and a destinated location information, and the step of generating the delivery sequence comprises:
sorting the OD pairs according to the original location information and destinated location information.
9 . The operating device of claim 1 , wherein every OD pair comprises a priority information, and the generation of the delivery sequence by the processor comprises:
sorting the OD pairs according to their priority information.
10 . The operating device of claim 1 , wherein every OD pair comprises a profit information, and the generation of the delivery sequence by the processor comprises:
sorting the OD pairs according to their profit information.
11 . The operating device of claim 1 , wherein every OD pair comprises a direct distance information, and the generation of the delivery sequence by the processor comprises:
sorting the OD pairs according to their direct distance information.
12 . The operating device of claim 1 , wherein the OD pairs have similar information, and the generation of the delivery sequence by the processor comprises:
randomly shuffle positions of the OD pairs in the delivery sequence.
13 . The operating device of claim 1 , wherein every route information has its own priority level, and a group of the position cells indicated by the route information having second highest priority level is located beside another group of the position cells indicated by the route information having the highest priority level.
14 . The operating device of claim 1 , wherein the generation of the route information by the processor comprises:
inputting the position cells and one of the OD pairs to a Lazy Theta* algorithm; and
computing Lazy Theta* algorithm with a space cost, and the space cost is p(s)=λ v numOfCellsToReserve(s), and numOfCellsToReserve is the number of the position cells that need to be reserved by the route information, and λ v is a space occupation cost coefficient that indicate a proportion of space cost in total cost.
15 . The operating device of claim 14 , wherein before the step of inputting the position cells comprises:
updating the position cells with an environment data.
16 . A system for managing multiple UAVs, comprising:
a plurality of UAVs; and
an operating device, wherein the operating device is connected to the UAVs through wireless communication;
wherein the operating device is configured to:
generate a plurality of position cells, each of the position cells is a logical unit of space defined by a geographical boundary, and each of the position cells has a cell type and a cell cost;
prioritize a plurality of OD pairs and generate a delivery sequence;
generate a plurality of route information according to the position cells and the delivery sequence, each of the plurality of the route information being assigned to a corresponding UAV of the plurality of UAVs;
transmit the route information to the respective UAVs for controlling their autonomous flight navigations according to the route information; and
wherein each of the route information indicate a plurality of position cells that are connected to each other, and the UAVs navigate through airspace corresponding to the position cells indicated by the route information;
wherein each of the route information further indicates one or more position cells that are not indicated by another one of the route information, using a first indication;
wherein one or more position cells that are indicated by a second indication provided from a previous route information are treated as obstacles for which the UAVs shall not navigate through airspace corresponding to position cells that are treated as obstacles, and wherein the first indication and the second indication are established prior to the route information being transmitted to a corresponding UAV of the plurality of UAVs; and
wherein the processor is further configured to generate a route network comprising the plurality of route information and integrating the previous route information assigned to other UAVs, and wherein the route network is established prior to transmitting the route information to the plurality of UAVs.