启发式多无人机协同路网持续监视轨迹规划

doi:10.7527/S1000-6893.2019.23753

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启发式多无人机协同路网持续监视轨迹规划

王通^1,2, 黄攀峰^1,2, 董刚奇^1,2

1. 西北工业大学航天学院, 西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 西安 710072

收稿日期:2019-12-13 修回日期:2019-12-25 出版日期:2020-06-30 发布日期:2019-12-26
通讯作者: 黄攀峰 E-mail:pfhuang@nwpu.edu.cn
基金资助:
国家自然科学基金（61725303，61803312）

Cooperation path planning of multi-UAV in road-network continuous monitoring

WANG Tong^1,2, HUANG Panfeng^1,2, DONG Gangqi^1,2

1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received:2019-12-13 Revised:2019-12-25 Online:2020-06-30 Published:2019-12-26
Supported by:
National Natural Science Foundation of China (61725303, 61803312)

摘要/Abstract

摘要： 研究了旋翼无人机组在路网环境下的协同持续监视问题。基于最优化原理定义了路网持续监视问题。通过简化路网离散过程、考虑传感器识别准确度、引入不确定度度量，提出面向事件的路网持续监视问题建模方法。针对路网持续监视轨迹规划问题的特殊性，设计了一种启发式多无人机协同轨迹规划算法。通过理论分析和仿真对比，表明了算法的可行性、准确性和通用性。所提算法作为对当前路网巡逻方法的扩充，不仅可解决实际路网移动持续监视任务，也为基于图模型的持续数据采集、连续覆盖等任务提供一种解决方案。

关键词: 启发式算法, 多无人机, 协同, 传感器覆盖, 路网, 持续监视

Abstract: In this paper, the problem of continuous monitoring of rotor UAVs in road-network environment is studied. Based on the optimization principle, the multi-UAVs road-network continuous monitoring problem is defined. By simplifying the discrete process for environment, considering the detection accuracy of sensors, and introducing uncertainty measurement, a model for road-network continuous monitoring is constructed. To address the particularity of path planning in continuous monitoring, a heuristic multi-UAVs cooperative path planning algorithm is designed. The theoretical analysis and simulation comparison verify the feasibility, accuracy, and generality of the proposed algorithm in multi-UAVs road-network continuous monitoring. As an extension of road-network patrolling method, this algorithm can not only provide a solution for the continuous monitoring task of road-network, but also be applied to the persistent data collection and continuous coverage tasks based on the graph model.

Key words: heuristic algorithm, multi-UAVs, cooperation, sensor coverage, road-network, continuous monitoring

中图分类号:

V249
TP242

王通, 黄攀峰, 董刚奇. 启发式多无人机协同路网持续监视轨迹规划[J]. 航空学报, 2020, 41(S1): 723753-723753.

WANG Tong, HUANG Panfeng, DONG Gangqi. Cooperation path planning of multi-UAV in road-network continuous monitoring[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723753-723753.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

启发式多无人机协同路网持续监视轨迹规划

Cooperation path planning of multi-UAV in road-network continuous monitoring

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