Abstract: To solve the problem of path planning in blood transportation by unmanned aerial vehicles (UAVs), a path planning model for blood transportation by UAVs is established with the goal of minimizing total transportation distance of UAVs. Considering the safe time interval of continuous take-off and landing of UAVs under the condition that the number of UAVs take-off and landing platforms is limited, a scheduling strategy of UAVs take-off sequence is designed to reduce the total time consumption for UAVs to complete transportation. And an imperialist competitive algorithm based on the imperialist reform is proposed. A sinusoidal disturbance strategy and an imperialist reform are introduced to improve the search accuracy of the algorithm. The acceptance criteria related to solution quality is designed to increase the diversity of the population. The benchmark example and the UAVs transporting blood example are used for verification. The results show that the proposed algorithm can provide transport tasks for the blood transportation by UAVs that meets various constraints and without UAVs take-off and landing conflicts. In addition, using the scheduling strategy of UAVs take-off sequence can reduce the total time spent by UAVs to actually complete the tasks effectively.

Key words: unmanned aerial vehicles, blood transportation, path planning, scheduling strategy

摘要： 针对使用无人机进行血液运输的路径规划问题，以无人机运输总距离最小为目标，建立多约束无人机血液运输路径规划模型。考虑无人机起降平台数量受限情况下的无人机连续起降安全时间间隔，设计无人机起飞顺序调度策略，以减少无人机完成运输的总耗时，并提出一种基于帝国改革的帝国竞争算法求解该问题。该算法引入正弦扰动策略、增加帝国改革阶段来提高算法的搜索精度，使用与解质量相关的接受准则以保持种群的多样性。利用基准算例和无人机运输血液实例进行验证，结果表明，所提算法可为无人机血液运输任务提供满足各项约束，且没有无人机起降冲突的运输方案；无人机起飞顺序调度策略，可有效减少无人机实际完成任务的总耗时。

关键词: 无人机, 血液运输, 路径规划, 调度策略