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Abstract
In the face of the expanding take-out and express market and the reality of
unmanned aerial vehicle delivery technology, how to design a more efficient, reliable
and safe airspace management system to enable more unmanned aerial vehicles to
deliver at a long distance at the same time has become an urgent problem to be solved.
In terms of the scheduling of single base station, an Inself pathfinding algorithm
with significantly lower computational force consumption than the traditional A*
algorithm is proposed, which can quickly and cheaply obtain A path set of non-discrete
coordinates. At the same time, based on the fast pathfinding algorithm, the collision
point conflict is re-pathfinding, and the aircraft path is dynamically adjusted in real
time according to the road condition information and other aircraft path time
information.
In the aspect of cooperation of multiple base stations, django and MySQL
database are deployed to conduct asynchronous communication between multiple
independent operating systems to realize the transition from one base station to another.
At the same time, when creating the aircraft, the rapidity of Inself algorithm is utilized
to obtain a path under the static map and the set of entrances and exits passing through
each base station in the general control console.
In terms of human-machine interface interaction, for users, the WeChat small
program is adopted to provide the interactive interface for de-app, and the deployed
django realizes the communication between data and MySQL. For regulators, it
provides an interface for each sub-base station to operate independently, which can
monitor all aircraft in the base station and change condition information in real time.
Through the above aspects, this design completes the multi-machine coordinated
planning and scheduling under the long distance with the idea of multi-base station to
complete the airspace management scheduling system.
Keywords
Airspace management, Path planning, Real-time scheduling
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