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

Abstract

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

CLC Number:

V249
TP242

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

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