车机协同多区域覆盖侦察路径规划方法  

Path Planning Method for Multi-Area Reconnaissance by Cooperated Ground Vehicle and Drone

作　　者：夏阳升 石建迈[1] 陈超[1] 黄金才[1] 程光权[1] XIA Yang-Sheng;SHI Jian-Mai;CHEN Chao;HUANG Jin-Cai;CHENG Guang-Quan(College of Systems Engineering,National University of Defense Technology,Changsha Hunan 410073,China)

机构地区：[1]国防科技大学系统工程学院,湖南长沙410073

出　　处：《指挥与控制学报》2020年第4期372-380,共9页Journal of Command and Control

基　　金：国家自然科学基金(71771215)资助。

摘　　要：针对小型无人机在战场区域侦察中的应用,提出了一种车机协同完成多区域覆盖侦察任务的新模式,汽车充当无人机的移动平台,携带无人机完成多个区域的扫描侦察任务.应用0-1整数规划建模技术,建立了优化汽车地面行驶路径和无人机空中飞行扫描路径的数学优化模型.设计了一种三阶段启发式算法,以快速求解车机路径规划方案.最后应用一个包含2个侦察区域的案例,验证了车机协同模式的优势和三阶段算法的有效性.To support the application of small drones in reconnaissance of battlefield areas,a new mode of cooperated ground vehicle and drone is proposed to complete multi-area coverage reconnaissance tasks.The ground vehicle serves as the mobile platform for the drone,carrying the drone to complete multi-area reconnaissance tasks.Through utilizing the 0-1 integer programming technology,a mathematical optimization model is established to optimize the vehicle’s travel path and the drone’s flight path for scanning the areas.A three-stage heuristic algorithm is designed to quickly solve the path planning problem of cooperated ground vehicle and drone.Finally,a case with 20 reconnaissance areas is applied to verify the advantages of the cooperated mode and the effectiveness of the three-stage algorithm.

关 键 词：无人机 路径规划 区域扫描 启发式算法 

分 类 号：E933[军事—军事装备学]