县–村配送模式下无人机三维路径规划

徐红艳，柳国梁，刘华琼^*

山东交通学院交通与物流工程学院，山东 济南  250357

摘要：针对农村部分道路通行能力较差、快递配送成本较高等问题，构建由县级配送中心、无人机直配区、网格配送站、村级快递代收点组成的无人机县-村配送模式，以配送距离最小为目标，以无人机载质量和续航能力为约束条件搭建配送模型，考虑山峰、人口聚集集市及无人机禁飞区域，采用Cubic-Sine映射改进麻雀搜索算法，在三维空间求解无人机最优配送路径，以地形较复杂的A镇为算例，采用软件MATLAB仿真分析无人机配送路线。结果表明：基于改进麻雀搜索算法求解的无人机配送路径能有效避开较高的山峰、人口聚集的集市及禁飞区等无人机无法通行区域；采用无人机为A镇3处村级快递代收点配送快递的总距离为9.27 km，配送成本约为17.24元，采用车辆配送总距离为21.46 km，配送成本约为59.66元，相比车辆配送无人机配送距离与成本分别减小56.8%、71.1%。在农村地区使用无人机配送可降低配送距离与成本，提高末端配送效率。

关键词：无人机配送；农村；路径优化；麻雀搜索算法

Three-dimensional path planning for drones incounty-to-village delivery model

XU Hongyan, LIU Guoliang, LIU Huaqiong^*

School of Transportation and Logistics Engineering, Shandong Jiaotong University, Jinan 250357, China

Abstract: Addressing issues such as poor rural road capacity and high delivery costs, a county-to-village dronedelivery model is constructed. This model includes a county-level distribution center, direct drone delivery areas, grid distribution stations, and village-level parcel collection points. The delivery model aims to minimize delivery distance, constrained by drone payload and endurance capabilities. Considering factors such as mountains, densely populated markets, and no-fly zones, using the Cubic-Sine mapping improved sparrow search algorithm to solve for the optimal drone delivery path in three-dimensional space. Using town A, with complex terrain, as a case study, MATLAB software is utilized for simulation analysis of the drone delivery route. The results indicate that the drone delivery path, optimized by the improved Sparrow Search Algorithm, effectively avoids high mountains, densely populated markets, and other no-fly zones. The total delivery distance for delivering parcels to three village-level collection points in Town A using drones is 9.27 km, with a delivery cost of approximately 17.24 yuan. In contrast, using vehicles, the total delivery distance is 21.46 km, with a delivery cost of approximately 59.66 yuan. Compared to vehicle delivery, drone delivery reduces the distance and cost by 56.8% and 71.1%, respectively. Utilizing drones for delivery in rural areas can reduce delivery distance and costs, thereby enhancing last-mile delivery efficiency.

Keywords: drone delivery; rural areas; path optimization; sparrow search algorithm