Heterogeneous robotic delivery system (HRDS), which is consisted of unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV), is widely used for the delivery in the lastest years. As the core of delivery industry, the path planning problem is crucial for HRDS. In HRDS model in this study, UAV can deliver multiple customer points in a single flight, thereby improving delivery efficiency. Meanwhile, the movement restrictions of UGV within the road network and the constraint of UAV endurance are considered to make the model more practical and realistic. To solve the problem, this study based on the discrete Artificial Bee Colony Algorithm (ABC), proposes encoding and decoding strategies, position updating strategies, and local search strategies to make multiple improvements to ABC. Simulation results demonstrate that modifide ABC effectively resolves this problem, exhibiting faster convergence speed and higher solution accuracy compared to other algorithms.
Path Planning for Heterogeneous Robotic Delivery Systems Considering Road Network Constraints
2024-07-05
734249 byte
Conference paper
Electronic Resource
English
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