摘要
采用无人机对地震灾区进行巡查是了解灾情的重要手段，在复杂灾区环境下制定无人机的巡查路线尤为关键．首先针对重点震区灾情巡查问题，构建了带有山体遮挡的区域搜索模型，提出一种基于栅格扫描线的区域搜索算法，从而得到在综合考虑巡查时间、覆盖率、无人机数量以及飞行路线等因素时的最佳巡查方案．其次针对全区域巡查问题，建立了基于区域划分的栅格搜索模型，并提出基于蚁群的改进栅格搜索算法，得到无人机数量少、巡查时间短和巡查路线优的全区域优化巡查方案．
The unmanned aerial vehicles （UAVs） have played a key role to detect the disaster in the earthquake-stricken regions. It is crucial to plan the inspection route in complex disaster environment. Firstly, for the goal of the major inspection in the earthquake disaster areas, a regional search model with mountain shelter is constructed, and a region search algorithm based on raster scanline is proposed. An optimal scheme of the flight routes is presented with considering the comprehensive factors such as the inspection time, coverage rate, and the number of UAVs. Secondly, for the problem of the whole area inspection, a grid search model is established based on the area segmentation, and an improved raster search algorithm based on the ant colony is proposed. The optimized inspection scheme for the whole area is also obtained with the minimum number of UAVs, the short inspection time and the optimal routes.
作者
孙纯岭
李影
任磊磊
高发荣
SUN Chun-ling;LI Ying;REN Lei-lei;GAO Fa-rong(Institute of Intelligent Control and Robotics,School of Automation,Hangzhou Dianzi University,Hangzhou 310018,China)
出处
《数学的实践与认识》
北大核心
2018年第15期83-93,共11页
Mathematics in Practice and Theory
基金
国家自然科学基金(U1509203)
