动态交通流下低空航路网的事件触发在线修正
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北京城建勘测设计研究院有限责任公司

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Online Planning of Low-Altitude Air Route Networks Based on Spatio-Temporal Traffic-Flow Weights and a Hybrid Dijkstra-DQN Algorithm
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    摘要:

    面向城市低空物流和公共低空航路网的战术级路径修正需求,传统静态最短路径方法难以感知航段容量变化和局部拥堵;动态Dijkstra、D* Lite、LPA*等增量搜索方法虽能响应边权变化,但仍以确定性全局或增量重算为主;端到端强化学习方法又存在泛化、安全审查和失效回退困难。针对上述问题,本文将低空航路网表示为三维有向动态加权图,构建融合自由流飞行时间、容量利用率、高度层转换、风险暴露与禁限飞状态的动态边权模型,并提出事件触发式Dijkstra-DQN混合在线规划框架。该框架以Dijkstra生成可解释的全局主路径,通过滚动窗口监测前方航段拥堵指数与权重突变;当局部扰动超过阈值时,DQN智能体仅在有限邻域子图内进行绕行决策,并通过动作掩码、锚点重接入、局部步数上限和动态Dijkstra兜底机制保证路径输出可审查、可回退。基于合成城市核心区、非齐次泊松OD需求、,在局部突发拥堵场景下,混合算法较静态Dijkstra平均飞行时间降低21.5%,拥堵暴露率降低75.7%;较A*动态重算单步决策耗时降低39.7%。上述结果仅说明该方法在受控仿真条件下具有机制有效性,不能直接外推为真实复杂低空空域中的运行有效性;工程部署仍需接入真实建筑高度、飞行轨迹、气象、通信监视、多机冲突解脱和监管接口数据进行再验证

    Abstract:

    Abstract: Tactical route correction for low-altitude logistics and public low-altitude route networks must balance interpretability, online latency, adaptive congestion avoidance, and safety fallback. Static shortest-path methods cannot perceive segment capacity variation and local congestion. Incremental search methods such as dynamic Dijkstra, D* Lite and LPA* respond to edge-weight changes but still rely mainly on deterministic global or incremental replanning, whereas end-to-end reinforcement learning suffers from limited interpretability and difficult safety certification. This paper models the low-altitude route network as a three-dimensional directed graph with time-varying non-negative weights that incorporate free-flow travel time, capacity utilization, altitude-transition cost, risk exposure and temporary restrictions. An event-triggered hybrid Dijkstra-DQN framework is then developed. Dijkstra provides an interpretable global backbone route, while a DQN agent is activated only within a bounded local subgraph when a rolling monitoring window detects excessive congestion or abrupt edge-weight changes. Action masking, anchor-node reconnection, local-step limits and dynamic-Dijkstra fallback are embedded to keep the learning policy bounded, auditable and recoverable. Controlled simulations using synthetic urban scenarios and simulated-realistic data show that the proposed method reduces average flight time and congestion exposure under local disruptions while maintaining lower online latency than repeated global replanning. The findings should be interpreted as mechanism-level evidence under controlled simulation settings rather than proof of operational effectiveness in real-world complex airspace.

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  • 收稿日期:2026-07-01
  • 最后修改日期:2026-08-10
  • 录用日期:2026-09-20
  • 在线发布日期: 2026-09-22
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