無人機貨物運送排程規劃暨求解演算法之研究

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陳怡亘(Yi-Hsuan Chen) 查詢紙本館藏

畢業系所

土木工程學系

論文名稱

無人機貨物運送排程規劃暨求解演算法之研究

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[完整記錄]

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至系統瀏覽論文 ( 永不開放)

摘要(中)

近年來無人機之技術發展逐漸成熟，其機動性與靈活性較傳統貨車高，且不受地面道路狀況所影響。然現今貨運業者大多使用傳統車輛運輸，或是將無人機結合大型貨車應用在最後一哩路的運送上，而鮮少有直接利用無人機進行點對點間之貨物運送，因此在運具選擇上若能利用無人機的優勢，運用無人機運輸貨物，將可減少傳統車輛運輸在地面道路上引發之交通問題。此外目前國內尚未發現有業者單純使用無人機進行貨物運送，因此若能提前規劃使用無人機進行貨物運送及其排程，則不僅可以提升運送績效，且能減少人力資源之浪費，為業者帶來利潤。
本研究針對一日之短期營運，以無人機營運業者的角度並採用顧客預約之方式，在滿足所有預約需求與考量實務上合理的無人機運送限制下，利用時空網路流動的技巧與數學規劃方法，以最小化營運成本為目標，構建一無人機貨物運送排程規劃模式。本模式可定式為一含額外限制之整數網路流動問題，屬於NP-hard問題。在求解上，當面臨實務上大型問題時，勢難以在有限時間內利用數學規劃軟體CPLEX求得最佳解。爰此，本研究發展一逐步鬆弛固定啟發式演算法以有效地求解問題。為評估此模式之實用性，本研究進行範例測試，並針對重要參數進行敏感度或方案分析，結果顯示本研究提出之模式及啟發解法測試效果良好，可供無人機業者參考，以在未來進行無人機貨物運送之排程規劃。

摘要(英)

In recent years, the technology of unmanned aerial vehicles (UAVs) has been gradually evolving. UAVs are not affected by ground road conditions and have high mobility and flexibility. It is thus believed that, in the selection of transportation vehicles, UAVs can reduce the traffic problems caused by traditional vehicle transportation on ground roads. In the logistics industry, UAVs are mostly used for last-mile distribution but rarely used for point-to-point cargo distribution directly. Moreover, in terms of current operation, there is no domestic operator that completely uses UAVs for cargo delivery. If the operators can plan UAVs in advance for delivery routing and scheduling, they can not only improve the efficiency of transportation but also reduce the waste of human resources.
Therefore, this study developed a scheduling model of UAVs by utilizing the time-space network flow technique and mathematical programming method. All advanced requests must be satisfied by UAVs, and the related operating constraints are ensured in the model. The model aims to minimize the total operating cost. Mathematically, the model is formulated as an integer network flow problem with side constraints, which belongs to an NP-Hard problem. When facing large-scale problems in reality, it is difficult to use the mathematical programming software to find the optimal solution within a limited of time. For the reason, this study develops a heuristic algorithm to efficiently solve the problem. To evaluate the practicality of the model, a case study is performed and several sensitivity analyses are conducted on essential parameters. The test results show that the proposed model and solution algorithm are effective, and can be useful references for UAV operators to perform delivery routing and scheduling in the future.

關鍵字(中)

★ 無人機
★ 預約需求
★ 運送排程
★ 時空網路
★ 啟發式解法

關鍵字(英)

★ UAV (Unmanned Aerial Vehicle)
★ advanced request
★ delivery routing and scheduling
★ time-space network
★ heuristic

論文目次

摘　要 i
ABSTRACT ii
謝　誌 iii
目錄 v
圖目錄 vii
表目錄 viii
第一章緒論 1
1.1 研究背景與動機 1
1.2 研究目的與範圍 4
1.3 研究方法與流程 6
第二章文獻回顧 8
2.1 無人機於運輸物流之應用相關文獻 8
2.2 無人機充電、電動車充電相關文獻 10
2.3 車輛途程問題相關文獻 11
2.4 時空網路相關文獻 13
2.5 大型含額外限制整數網路流動問題啟發式演算法 14
2.6 文獻評析 15
第三章模式構建 17
3.1 問題描述 17
3.2 模式架構 17
3.2.1 模式基本假設與已知條件 17
3.2.2 無人機時空網路 22
3.2.3 符號說明與數學定式 27
3.2.3.1 模式之符號說明 27
3.2.3.2 數學定式 28
3.3 模式驗證 32
3.4 模式求解方法 36
3.4.1 逐步鬆弛固定演算法 36
3.5 小結 39
第四章範例測試 40
4.1 資料輸入 40
4.1.1 無人機規劃資料 40
4.1.2 運輸路網規劃資料 42
4.1.3 任務需求資料 43
4.2 模式發展 44
4.2.1 問題規模 44
4.2.2 電腦演算環境 44
4.2.3 電腦參數設定 44
4.2.4 模式輸入資料 45
4.2.5 模式輸出資料 46
4.3 範例測試與演算法績效分析 47
4.3.1 範例測試結果 47
4.3.2 演算法結果分析 47
4.3.2.1 演算法測試結果 47
4.3.2.2 演算法績效分析 49
4.4 模式之參數敏感度分析 54
4.4.1 無人機折舊成本敏感度分析 54
4.4.2 任務需求量敏感度分析 56
4.4.3 規劃營運時間敏感度分析 57
4.4.4 無人機電量上限敏感度分析 59
4.4.5 無人機電量下限敏感度分析 60
4.4.6 無人機耗電量敏感度分析 61
4.4.7 懲罰值敏感度分析 63
4.4.8 換電池成本敏感度分析 65
4.5 小結 66
第五章結論與建議 67
5.1 結論 67
5.2 建議 68
5.3 貢獻 69
參考文獻 70
附錄 75
附錄一任務需求輸入資料 75
附錄二各點對間原始飛行時間輸入資料 80

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指導教授

顏上堯(Shang-Yao Yan)

審核日期

2022-7-25

推文