关键词: 救灾物资避障配送, 卡车-无人机协同, 两阶段启发式算法, 改进[k]-means算法, 模拟退火鲸鱼算法

Abstract: In order to solve the problem of the optimal path and shortest delivery time for truck-drone collaborative distribution in flooded areas with waterlogged obstacle zones, an integer programming model is established and a two-stage heuristic algorithm is proposed. The first phase grids the waterlogged obstacle areas in two dimensions and determines the safe waiting points for trucks when drones are transporting relief supplies and the collection of drone-delivery customers at each waiting point. In the second stage, a stage planning algorithm is proposed, which combines an improved A-star algorithm with a simulated annealing whale algorithm with a nonlinear convergence factor to optimize the delivery route of freight cars bypassing the stagnant area. This algorithm combines the global search optimality of the A-star algorithm with the local search accuracy of the whale algorithm, ensuring the safety of truck driving. It solves the problem of distributing disaster relief supplies in waterlogged areas. Finally, an example shows that this method can quickly and safely solve the problem of obstacle avoidance and disaster relief materials distribution in flood disasters.

Key words: disaster relief material avoidance distribution, truck-drone collaboration, two-stage heuristic algorithm, improved [k]-means algorithm, simulated annealing whale algorithm