母舰-舰载机协同路径规划问题研究综述  

Review on mothership-vehicle collaborative routing problem

作　　者：李延通 张闯 汤莲花 LI Yan-tong;ZHANG Chuang;TANG Lian-hua(School of Maritime Economics and Management,Dalian Maritime University,Dalian 116026,China;School of Equipment Management and Support,Engineering University of PAP,Xi’an 710086,China;Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]大连海事大学航运经济与管理学院,辽宁大连116026 [2]武警工程大学装备管理与保障学院,西安710086 [3]上海海事大学物流工程学院,上海201306

出　　处：《控制与决策》2025年第2期387-403,共17页Control and Decision

基　　金：国家自然科学基金项目(2201044);中国博士后科学基金项目(2022M710018);上海市软科学研究项目(23692118900)。

摘　　要：母舰-舰载机协同路径规划问题(MVCRP)作为一类新兴的复杂组合优化问题,近年来得到越来越多的关注和研究.针对MVCRP的概念内涵进行论述,对其与卡车-无人机协同路径规划问题的主要区别进行辨析,描述其在海事巡航执法、海上设施巡检、船只排放监测及海上搜索救援等方面的典型应用场景.基于母舰与舰载机数量形成的映射关系,对MVCRP研究进展进行系统综述,并对数学模型与求解算法方面的典型文献进行介绍分析.同时,面向油田设施巡检的多舰-单机协同作业模式,提出一个新的混合整数二阶锥规划模型.最后,从时间窗、多港口、可变速度、母舰多行程、复杂形状目标以及不确定性等方面对MVCRP的未来研究方向进行展望.As a new and complex combinatorial optimization problem,the mothership-vehicle collaborative routing problem(MVCRP)has received increasing attention and study from many scholars in recent years.This paper discusses the concept and connotation of the MVCRP,analyzes its main differences from the truck-drone collaborative routing problem,and describes its typical application scenarios in maritime cruise supervision and law enforcement,offshore facility inspection,ship emission detection,and search-and-rescue activities.Based on the mapping relationship formed by the number of motherships and vahicels,this paper provides a systematic overview of the overall research status of the problem and introduces current models and solution methods.Furthermore,we introduce a new mixed-integer secondorder conic programming model for a new variant,where multiple motherships,each equipped with a loaded vehicle,are used to perform oil facility inspection.Finally,the paper provides prospects for future research directions on the MVCRP from multiple perspectives including time windows,multiple ports,variable speeds,multiple journeys for one mothership,targets with complex shapes,and uncertainties.

关 键 词：母舰-舰载机 协同路径规划 混合整数二阶锥规划 混合整数线性规划 启发式算法 精确算法 

分 类 号：U116.2[交通运输工程]