摘要
对简化的地面搜索问题进行研究。首先用最小覆盖原理求出组内每个人的实际搜索半径;考虑组内所有搜索队员作为一个整体沿区域扫描线方向进行搜索,从而可导出一组搜索队伍总的搜索宽度;然后用搜索队伍总的搜索宽度对目标区域进行栅格化;最后采用基于栅格地图的全覆盖路径规划算法对问题1进行求解。对问题2,首先根据时间均衡原则和各组人数均衡原则,确定好各组人数与各组区域优化分配,于是问题2就转化为问题1,便可采用问题1的模型进行求解。理论分析与计算结果表明该方案是可行的。
The simplified ground search problem is discussed in this paper. Firstly, minimum coverage principle is used to deduce the actual search radius, and then the search width of the search group can be computed by supposing all member lining up. Lastly Problem 1 can be solved by complete path planning based on grid - map. For Problem 2, firstly time and member number balance principle is used to determine the number of each group and the optimal assignment of sub - region for each group, and then Problem 2 is converted into Problem 1. So, Problem 2 can be solved by the solution of Problem 1. Theoretical analysis and computation results show that the present scheme is practicable.
出处
《湖南第一师范学报》
2009年第1期159-162,共4页
Journal of First Teachers College of Hunan
基金
湖南省教育厅资助项目(08C018)
湖南第一师范学院项目(XYS08N02)
关键词
最小覆盖
全覆盖路径规划
地面搜索
区域划分
minimum coverage
complete coverage path planning
ground search
region partition
