Optimization for Urban Low-Altitude Logistics Using an Improved Whale Optimization Algorithm

Urban low-altitude logistics is increasingly constrained by obstacle-rich city morphology and wind-induced flight disturbances, which makes conventional path-planning methods insufficient for simultaneously ensuring efficiency, feasibility, and robustness. To address this issue, this study proposes an improved whale optimization algorithm (IWOA) for wind-field-coupled three-dimensional UAV path planning in urban environments. A voxel-based urban model is established, and the planning objective integrates flight time, energy consumption, wind-field penalty, and path smoothness. On the basis of the original whale optimization algorithm, the proposed method introduces a wind-field-guided local adjustment operator, adaptive convergence control, elite preservation, large-scale mutation, and feasibility repair. The proposed method is evaluated through a structured simulation framework comprising four scenarios: a baseline case, urban density variation, complex wind-field variation, and multi-destination delivery. The results show that IWOA consistently yields the lowest composite cost among the compared algorithms and exhibits better path smoothness, stronger wind adaptation, and earlier convergence stability. In the baseline case, the total cost of IWOA is reduced by 17.3%, 13.1%, and 6.7% relative to A*, GA, and WOA, respectively. Under the high-density urban environment and the complex wind field, IWOA also maintains the best performance, indicating stronger robustness under increased environmental difficulty. Sensitivity analyses further show that wind speed and wind direction have pronounced effects on the total cost, while the energy coefficient mainly affects the energy-related component. These results demonstrate that the proposed framework provides an effective and practically relevant solution for urban low-altitude UAV logistics path planning.