Research on Unmanned Aerial Vehicle Path Planning for Carbon Emission Monitoring of Land-Side Heavy Vehicles in Ports

Climate change makes it necessary to implement precise carbon dioxide reduction measures, and establishing a port carbon dioxide emission inventory has become a key step in port management.However, the establishment of a port carbon emission inventory, while crucial for the execution of environmental policies, currently lacks effective monitoring and path planning schemes to support this process. To address these issues, we propose a path planning scheme for port-based carbon emission monitoring. The scheme analyzes the factors affecting the effectiveness of the scheme and establishes a hierarchy of these factors to optimize the monitoring path. Furthermore, a multi-objective path planning mathematical model is established in this article, introducing the optimal goals of economic and environmental costs to achieve the overall path planning objectives. Lastly, this paper focuses on the initial path planning problem of drone monitoring and proposes an improved A* algorithm (IEHA). The algorithm improves the search method of child nodes by eliminating nodes that collide with obstacles, thereby reducing the threat of path collisions. At the same time, the evaluation function is improved by introducing the average value and Gaussian distribution probability function into the heuristic function, enhancing the reliability of the evaluation function, reducing the length of the optimal path, and improving operational efficiency. In the simulation experiment results, the proposed algorithm outperforms A*, ACO, and IEA algorithms in optimizing path length, reducing collision points to ensure path safety, and robustness. This indicates that the proposed algorithm can effectively improve the path planning performance of drones in port carbon dioxide emission monitoring, providing an effective technical means for port carbon dioxide emission monitoring.