基于遗传算法的无人机编队高速公路巡检任务规划方法  

Planning Method of Expressway Inspection by UAv Formation Based on Genetic Algorithm

作　　者：李彦强 王建辉 Li Yanqiang;Wang JianHui(Guangdong Jiaoke Testing Co.,Ltd.,Guangzhou 510000,China;Guangdong Road and Bridge Construction Development Co.,Ltd.,Guanghe Branch,Zhaoqing 526400,China)

机构地区：[1]广东交科检测有限公司,广东广州510000 [2]广东省路桥建设发展有限公司广贺分公司,广东肇庆526400

出　　处：《市政技术》2023年第11期67-73,共7页Journal of Municipal Technology

摘　　要：利用无人机编队对高速公路进行巡检具有不占用道路资源、不受交通流量和天气影响等优点,能够有效提升路况信息服务水平。针对无人机编队对高速公路进行巡检的任务规划需求,利用多旅行商问题对其进行建模,构建了基于道路路网条件和巡检任务的约束条件,并以执行任务的最短总路径为优化目标,利用遗传算法对模型进行求解,从而获得了最优的任务规划方案。仿真试验结果表明,该方法能够获得高质量的任务规划方案且算法实时性较高,具有较好的应用前景。Because of the advantages of not occupying road resources,not being affected by traffic flow and weather,that patrolling the expressway by UAV formation can effectively improve the service level of road condition informa-tion.In view of the task planning requirements of the UAV formation for expressway inspection,the model was built by multiple traveling salesman problem(MTSP)to construct the constraint conditions based on road network condi-tions and inspection tasks.The shortest total path of the task was taken as the optimization goal.The genetic algo-rithm was used to solve the model to obtain the optimal task planning scheme.The simulation results show that this method can obtain high quality task planning scheme.The algorithm has high real-time performance,which has a good application prospect.

关 键 词：遗传算法 无人机 高速公路巡检 任务规划 多旅行商问题 

分 类 号：TM75[电气工程—电力系统及自动化]