一种基于图论的机场空域无人机流量控制方法

doi:10.13700/j.bh.1001-5965.2019.0282

北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (5): 978-987.doi: 10.13700/j.bh.1001-5965.2019.0282

一种基于图论的机场空域无人机流量控制方法

崔恺¹, 曾国奇^2,3, 林伟¹, 全权⁴

1. 北京航空航天大学电子信息工程学院, 北京 100083;
2. 北京航空航天大学无人系统研究院, 北京 10008;
3. 北京航空航天大学杭州创新研究院, 杭州 310051;
4. 北京航空航天大学自动化科学与电气工程学院, 北京 100083

收稿日期:2019-06-10 发布日期:2020-05-19
通讯作者: 曾国奇 E-mail:zengguoqi@buaa.edu.cn
作者简介:崔恺男,硕士研究生。主要研究方向:无人机任务规划、无人机流量调度;曾国奇男,博士,高级实验师。主要研究方向:无人机低空航路网规划与流量调度、无人机测控与指挥控制、无人机任务规划与飞行模拟训练;林伟男,硕士研究生。主要研究方向:无人机航路规划系统、多无人机协同任务规划;全权男,博士,副教授。主要研究方向:可靠飞行控制。
基金资助:
国家重点研发计划（SQ2017YFGX040110）；北京市科技计划（Z181100003218015）

Flow control method for UAV airport airspace based on graph theory

CUI Kai¹, ZENG Guoqi^2,3, LIN Wei¹, QUAN Quan⁴

1. School of Electronic and Information Engineering, Beihang University, Beijing 100083, China;
2. Institute of Unmanned Systems, Beihang University, Beijing 10008;
3. Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China;
4. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

Received:2019-06-10 Published:2020-05-19

摘要/Abstract

摘要： 城市物流无人机机场需具有同时起降多架无人机的能力，针对中小型垂直起降无人机设计了一种单入口单出口、航路交叉、多停机坪的机场模型，提出了一种基于图论的飞行安全优先的流量控制方法。根据机场内无人机飞行状态，控制无人机进离场时间，规划出机场内飞行航路，保证无人机飞行安全。仿真结果表明：该流量控制方法可以确保无人机在机场空域内安全有序飞行；分别测试了面积不同的机场进场与进离场运行容量，在单个停机坪面积一定时，停机坪数量越多进场容量越大，但进离场容量反而越小；因此在设计机场时，在给定的机场面积情况下，需要合理规划停机坪数量。

关键词: 城市物流无人机, 机场, 流量控制, 容量评估, 图论

Abstract: The logistics drone airport in the city needs the ability to take off and land multiple UAVs at the same time. An airport model with single inlet and single exit, route crossing and multiple aprons is designed for small and medium sized vertical takeoff and landing UAVs, and a flow control method based on graph theory to ensure flight safety is proposed. According to the flight status of drones in the field, arrival and departure time of drones are controlled, and flight routes within the airport are planned to ensure the flight safety of drones. The simulation results show that the flow control method can ensure safe and orderly flight of UAVs in the airport airspace. Arrival and departure operating capacity of airports with different sizes were tested separately. When the area of a single apron is fixed, the greater the number of aprons the larger the arrival capacity, but the smaller the arrival and departure capacity. Therefore, when designing an airport, it is necessary to properly plan the number of tarmac in a given airport area.

Key words: logistics drone in city, airport, flow control, capacity evaluation, graph theory

中图分类号:

V351.21

崔恺, 曾国奇, 林伟, 全权. 一种基于图论的机场空域无人机流量控制方法[J]. 北京航空航天大学学报, 2020, 46(5): 978-987.

CUI Kai, ZENG Guoqi, LIN Wei, QUAN Quan. Flow control method for UAV airport airspace based on graph theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 978-987.

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一种基于图论的机场空域无人机流量控制方法

Flow control method for UAV airport airspace based on graph theory

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