车辆支持的多无人机多区域覆盖路径规划算法

V279; 针对无人机在区域侦察中的应用研究,提出车辆支持的多无人机覆盖侦察的车机协同模式与协同路径规划算法.以最小化任务完成时间为目标,考虑车辆路径所受的道路约束以及无人机的能量约束,建立混合整数规划模型,并设计基于迭代松弛思想的启发式算法.在构建的60 km2的测试场景中随机设置16个目标区域,算法实现了车辆与无人机的覆盖路径规划,全部侦察任务完成用时为1.593 h,验证了车辆支持多无人机模式的可行性以及算法的有效性....

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Published in国防科技大学学报 Vol. 46; no. 6; pp. 227 - 234
Main Authors 田双喜, 陈洪辉, 徐彬杰, 伍国华
Format Journal Article
LanguageChinese
Published 国防科技大学系统工程学院,湖南长沙 410073%国防科技大学系统工程学院,湖南长沙 410073%中南大学 交通运输工程学院,湖南长沙 410075 01.11.2024
湖南财政经济学院工商管理学院,湖南长沙 410205
Subjects
覆盖路径规划
unmanned aerial vehicle
truck-UAV cooperation
区域侦察
无人机
车机协同
coverage path planning
area reconnaissance
Online AccessGet full text
ISSN1001-2486
DOI10.11887/j.cn.202406025

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Abstract V279; 针对无人机在区域侦察中的应用研究,提出车辆支持的多无人机覆盖侦察的车机协同模式与协同路径规划算法.以最小化任务完成时间为目标,考虑车辆路径所受的道路约束以及无人机的能量约束,建立混合整数规划模型,并设计基于迭代松弛思想的启发式算法.在构建的60 km2的测试场景中随机设置16个目标区域,算法实现了车辆与无人机的覆盖路径规划,全部侦察任务完成用时为1.593 h,验证了车辆支持多无人机模式的可行性以及算法的有效性.
AbstractList V279; 针对无人机在区域侦察中的应用研究,提出车辆支持的多无人机覆盖侦察的车机协同模式与协同路径规划算法.以最小化任务完成时间为目标,考虑车辆路径所受的道路约束以及无人机的能量约束,建立混合整数规划模型,并设计基于迭代松弛思想的启发式算法.在构建的60 km2的测试场景中随机设置16个目标区域,算法实现了车辆与无人机的覆盖路径规划,全部侦察任务完成用时为1.593 h,验证了车辆支持多无人机模式的可行性以及算法的有效性.
Abstract_FL To study the application of UAVs(nmanned aerial vehicles)in area reconnaissance,a cooperation mode of truck-supported multi-UAV coverage reconnaissance and a collaborative path planning algorithm were proposed.With the goal of minimizing the task completion time,a mixed integer programming model was established considering the road constraints on the vehicle path and the energy constraints of the UAVs.A heuristic algorithm based on the idea of iterative relaxation was designed.In the test scene of 60 km2,16 target areas were randomly set.The proposed algorithm realizes the coverage path planning of the truck and the UAVs,and the total reconnaissance task time is 1.593 h,which verifies the feasibility of the vehicle supporting the multi-UAV mode and the effectiveness of the algorithm.
Author 田双喜
伍国华
陈洪辉
徐彬杰
AuthorAffiliation 湖南财政经济学院工商管理学院,湖南长沙 410205;国防科技大学系统工程学院,湖南长沙 410073%国防科技大学系统工程学院,湖南长沙 410073%中南大学 交通运输工程学院,湖南长沙 410075
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Author_FL TIAN Shuangxi
WU Guohua
CHEN Honghui
XU Binjie
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DocumentTitle_FL Coverage path planning algorithm for multi-area by truck-supported multi-UAV
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Keywords 覆盖路径规划
unmanned aerial vehicle
truck-UAV cooperation
区域侦察
无人机
车机协同
coverage path planning
area reconnaissance
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PublicationTitle 国防科技大学学报
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Publisher 国防科技大学系统工程学院,湖南长沙 410073%国防科技大学系统工程学院,湖南长沙 410073%中南大学 交通运输工程学院,湖南长沙 410075
湖南财政经济学院工商管理学院,湖南长沙 410205
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Snippet V279; 针对无人机在区域侦察中的应用研究,提出车辆支持的多无人机覆盖侦察的车机协同模式与协同路径规划算法.以最小化任务完成时间为目标,考虑车辆路径所受的道路约束以及...
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Title 车辆支持的多无人机多区域覆盖路径规划算法
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