论文标题
无人机在交通网络上搭便车的激励机制和路径计划
Incentive Mechanism and Path Planning for UAV Hitching over Traffic Networks
论文作者
论文摘要
通过无人机交付的包装是一种有前途的运输模式，可提供高效和绿色的物流服务，尤其是在城市地区或复杂的地形。但是，无人机的存储限制使得执行长距离交付任务变得困难。在本文中，我们提出了一个新颖的多式联运物流框架，在该框架中，无人机可以在该框架中呼吁地面车辆提供搭便车服务以节省自己的能量并延长其交付距离。该多模式物流框架是一个两阶段模型，可以共同考虑针对地面车辆的激励机制设计和无人机的路径规划。在第一阶段，为了应对地面车辆协助无人机交付的动机，提出了一种动态定价计划，以最好地平衡车辆响应时间和向地面车辆的付款。它表明，如果车辆响应时间长时间鼓励更多的车辆提供乘车，则应确定更高的价格。 In Stage II, the task allocation and path planning of the UAVs over traffic network is studied based on the vehicle response time obtained in Stage I. To address pathfinding with restrictions and the performance degradation of the pathfinding algorithm due to the rising number of conflicts in multi-agent pathfinding, we propose the suboptimal conflict avoidance-based path search (CABPS) algorithm, which has polynomial time complexity.最后，我们通过模拟验证结果。结果表明，我们的方法能够提高无人机包装交付的成功率。此外，我们估计无人机在悲观的情况下的交付时间，它的速度仅是地面车辆的交付时间的两倍。
Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform long-distance delivery tasks. In this paper, we propose a novel multimodal logistics framework, in which the UAVs can call on ground vehicles to provide hitch services to save their own energy and extend their delivery distance. This multimodal logistics framework is formulated as a two-stage model to jointly consider the incentive mechanism design for ground vehicles and path planning for UAVs. In Stage I, to deal with the motivations for ground vehicles to assist UAV delivery, a dynamic pricing scheme is proposed to best balance the vehicle response time and payments to ground vehicles. It shows that a higher price should be decided if the vehicle response time is long to encourage more vehicles to offer a ride. In Stage II, the task allocation and path planning of the UAVs over traffic network is studied based on the vehicle response time obtained in Stage I. To address pathfinding with restrictions and the performance degradation of the pathfinding algorithm due to the rising number of conflicts in multi-agent pathfinding, we propose the suboptimal conflict avoidance-based path search (CABPS) algorithm, which has polynomial time complexity. Finally, we validate our results via simulations. It is shown that our approach is able to increase the success rate of UAV package delivery. Moreover, we estimate the delivery time of the UAV in a pessimistic case, it is still twice as fast as the delivery time of the ground vehicle only.
