考虑中继充电的小型无人机侦察路径规划  

Small UAV Routing Planning for Reconnaissance Missions with Recharging

作　　者：毛慧婷 石建迈[1] 周玉珍 刘忠[1] MAO Huiting;SHI Jianmai;ZHOU Yuzhen;LIU Zhong(Science and Technology on Information Systems Engineering Laboratory,College of System 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信息系统工程重点实验室,湖南长沙410073

出　　处：《指挥与控制学报》2022年第2期206-213,共8页Journal of Command and Control

基　　金：国家自然科学基金(71771215);国防科技基础加强领域基金(2019-JCJQ-JJ-215)资助。

摘　　要：如何克服小型无人机续航能力低的弱点,扩大其任务执行范围,成为小型无人机广泛应用的关键.针对该问题提出了一种中继充电的小型无人机战场侦察模式.通过为不同作战平台加装无线充电设备,使其成为中继充电平台,在无人机电量不足时为其提供快速充电服务.研究了考虑中继充电的小型无人机侦察路径规划问题,建立了混合整数规划模型.设计了一种改进的蚁群算法,建立新的概率选择模型和集成局部搜索来提高搜索效率.通过4个规模不同的实例验证了算法的有效性.How to overcome the weakness of small unmanned aerial vehicles(UAVs)in low endurance and expand the range of task execution has become the key factor to limit their wide application.To solve this problem,a new applying mode for small UAVs in battlefield reconnaissance with relay charging is proposed.Different operational platforms can be added fast wireless charging equipment to make them as relay charging platforms,and provide fast charging service for UAVs when their battery power is insufficient.On this basis,the routing planning of small UAVs for reconnaissance missions considering relay charging is studied,and a mixed integer programming model is established.An improved ant colony algorithm is designed,where a new probability selection model and the enhancing local search algorithm are integrated to improve the search efficiency.The effectiveness of the algorithm is verified by four numerical examples with different scales.

关 键 词：路径规划 无人机 中继充电 蚁群算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]