多太阳能无人机覆盖路径优化方法

doi:10.7527/S1000-6893.2020.24476

电子电气工程与控制

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多太阳能无人机覆盖路径优化方法

杜楠楠^1,2, 陈建¹, 马奔¹, 王术波^1,3, 张自超¹

1. 中国农业大学工学院, 北京 100083;
2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191;
3. 武汉大学测绘遥感信息工程国家重点实验室, 武汉 430079

收稿日期:2020-07-02 修回日期:2020-07-27 出版日期:2021-06-15 发布日期:1900-01-01
通讯作者: 陈建 E-mail:jchen@cau.edu.cn
基金资助:
国家重点研发计划（2018YFD0700603，2017YFD0701003）；国家自然科学基金（51979275）；吉林省重点研发计划（20180201036SF）；测绘遥感信息工程国家重点实验室资助课题（19R06）；中国农业大学2115人才工程

Optimization method for coverage path planning of multi-solar powered UAVs

DU Nannan^1,2, CHEN Jian¹, MA Ben¹, WANG Shubo^1,3, ZHANG Zichao¹

1. College of Engineering, China Agricultural University, Beijing 100083, China;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;
3. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

Received:2020-07-02 Revised:2020-07-27 Online:2021-06-15 Published:1900-01-01
Supported by:
National Key R&D Program of China (2018YFD0700603, 2017YFD0701003); National Natural Science Foundation of China (51979275); Jilin Province Key R&D Plan Project (20180201036SF); Open Research Fund of State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (19R06); 2115 Talent Development Program of China Agricultural University

摘要/Abstract

摘要： 为解决传统电动无人机在覆盖作业时存在的续航时间短的问题，提出应用多架太阳能无人机进行覆盖作业。首先，在建立了应用于覆盖作业的太阳能无人机的能量模型的基础上，提出了能量流动效率这一指标来评价太阳能无人机在作业过程中对能量的利用率。其次，针对边界存在障碍物的凹多边形区域和内部含障碍物的多边形区域，以总作业完成时间最短为优化目标，提出基于无向图搜索方法的覆盖路径优化模型，定义约束方程限制无人机按照一定规则访问无向图中的节点，通过混合整数线性规划的方法求解每架无人机的最优飞行路径。再次，考虑无人机转弯时的姿态变化对能量流动效率的影响，将总作业完成时间最短和总能量流动效率最高同时作为优化目标，建立双目标优化方程，在首先以作业时间最短为优化目标进行求解的基础上，通过有限遍历的方式选择使能流效率和作业时间相对最优的覆盖飞行方向及飞行路径。大量仿真实验表明，所提的优化模型选取不同的优化目标，应用于不同形状的待覆盖区域，适用性广，在工程上应用范围广、可行性强。

关键词: 太阳能无人机, 能量流动效率, 无向图搜索, 覆盖路径优化模型, 双目标优化

Abstract: To solve the problem of short endurance of traditional electric UAVs during coverage operations, this paper proposes to use multiple solar powered UAVs for coverage operations. Firstly, an energy model for the coverage operations of the solar powered UAV is established, and the index of energy flow efficiency is proposed to evaluate the energy utilization rate of the solar powered UAV during the operation. Secondly, to get the shortest overall operation time, a coverage path optimization model based on the undirected graph search method is proposed for the concave polygon region with obstacles on the boundary and the polygon area with obstacles inside. The constraint equations are defined to restrict the UAV to visit the nodes of the undirected graph according to certain rules, and the optimal flight path of each UAV is solved by the method of mixed integer linear programming. Thirdly, considering the influence of attitude change on energy flow efficiency when the UAV turns, a double objective optimization equation is established to obtain the shortest operation time and the highest energy flow efficiency at the same time. After obtaining the shortest operation time, the coverage flight direction and flight path with the relatively optimal energy flow efficiency and operation time are selected through the limited traversal method. A large number of simulation experiments show that the optimization model proposed selects different optimization objectives and can be applied to different shapes of areas to be covered, and has wide applicability and strong feasibility in Engineering practice.

Key words: solar powered UAV, energy flow efficiency, undirected graph search, coverage path optimization model, double objectives optimization

中图分类号:

V328.1

杜楠楠, 陈建, 马奔, 王术波, 张自超. 多太阳能无人机覆盖路径优化方法[J]. 航空学报, 2021, 42(6): 324476-324476.

DU Nannan, CHEN Jian, MA Ben, WANG Shubo, ZHANG Zichao. Optimization method for coverage path planning of multi-solar powered UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(6): 324476-324476.

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多太阳能无人机覆盖路径优化方法

Optimization method for coverage path planning of multi-solar powered UAVs

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