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。
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.
作者
王通
黄攀峰
董刚奇
WANG Tong;HUANG Panfeng;DONG Gangqi(School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China;National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi’an 710072,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2020年第S01期61-70,共10页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(61725303,61803312)
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
heuristic algorithm
multi-UAVs
cooperation
sensor coverage
road-network
continuous monitoring
