安子轩

摘 要：无人机因其具有不受道路条件和交通拥堵影响的特点而被应用于物流配送，因此针对灾后道路损毁严重，卡车无法及时配送救援物资的问题，提出利用“卡车-无人机”协同配送的模式进行救援物资的配送。文章对多辆卡车多架无人机灾后协同配送物资的路径规划问题进行了研究，考虑到受灾群众对救援物资的需求紧迫性，受灾群众满意度会随着救援物资送达时间的延长而降低，因此以最大化受灾群众满意度为目标建立了卡车-无人机协同物资配送模型，并使用了自适应大邻域搜索算法对模型进行求解。最后，通过卡车-无人机协同配送和卡车单独配送两种情况下的对比实验验证了无人机在灾后救援物资配送中的有效性。

关键词：无人机；自适应大邻域搜索算法；路径规划；应急救援

中图分类号：F512.4；TP242文献标志码：ADOI：10.13714/j.cnki.1002-3100.2024.10.017

Abstract： Since drones are not affected by road conditions and traffic congestion， they are applied to logistics distribution. Therefore， in view of the problem that trucks cannot deliver relief materials in time due to serious road damage after disasters， a "truck-drone" collaborative distribution mode is proposed to deliver relief materials. This paper studied the routing problem of multi-truck and multi-drone coordinated delivery of materials after disasters. Considering the urgency of the needs of the victims of a disaster for relief materials， the satisfaction of the victims of a disaster will decrease with the extension of the delivery time of relief materials， so a truck-drone collaborative material distribution model was established， and the goal was to maximize the satisfaction of the victims of a disaster. The adaptive large neighborhood search（ALNS） algorithm was used to solve the problem. Finally， the effectiveness of drones in the delivery of post-disaster relief materials was verified through the comparative experiment of truck-drone coordinated delivery and truck separate delivery.

Key words： drones; adaptive large neighborhood search algorithm（ALNS）; path planning; emergency rescue

0    引   言

近年来，全球生态环境发生急剧变化，自然灾害频发，因此，做好灾后应急救援，尽最大可能挽救人民群众的生命和财产安全显得尤为重要。以洪涝灾害为例，我国是世界上洪涝灾害多发频发的国家之一，造成过极大的人员伤亡和经济损失。卡车因为具有承载量大、配送范围广的优势，已被广泛应用于灾后救援物资配送过程中，但是由于卡车自身的运输要求，在洪涝灾害等会对道路产生破坏的情况下，道路情况会对卡车配送救援物资产生限制，降低救援效率，因此需要寻找新的技术克服这一难题。……