基于模拟退火的多无人机路网巡边路径规划
Path Planning Based on Simulated Annealing for Multi-UAVs Road Network Patrol
周成 1雍鹏程 2刘宁 1陈伟3
作者信息
- 1. 武警新疆总队,乌鲁木齐 830000
- 2. 北京理工大学重庆创新中心,重庆 401135
- 3. 北京理工大学重庆创新中心,重庆 401135;西华大学,成都 610036
- 折叠
摘要
研究了多无人机路网巡边路径规划问题,以路线分配最均衡为目标建立多无人机路径规划模型.对于路网中路段的分配问题,提出使用基本割集原理对图进行分割划分的方法,采用欧拉回路算法作为单无人机路径规划的基础.结合划分结果和单机路径设计了初始解的构造策略以及相应的邻域变换规则,使用模拟退火算法进行求解.通过仿真分析,表明了算法设计的可行性与合理性.
Abstract
The path planning for multiple UAVs road network patrol is studied in this paper,and multiple UAVs path planning model is established with goal of the most equilibrium path allocation,the main purpose is to maintain the most balanced paths for all UAVs.For the allocation problem of road segments in the road network,Euler circuit algorithm is utilized to act as the basis for the path plan-ning of single UAV.Then,the partition results and single UAV path are combined to design the con-struction strategy of the initial solution and the corresponding neighborhood transformation rules.The simulated annealing algorithm is used for solution.Finally,the simulations analysis shows the feasibility and rationality of the designed algorithm.
关键词
多无人机/巡线/模拟退火算法/图划分/路径规划Key words
multi-UAVs/patrol/simulated annealing algorithm/graphic partition/path planning引用本文复制引用
基金项目
国家自然科学青年基金(62003277)
中国高校产学研创新基金(2021ZYA02010)
四川省自然科学基金青年基金资助项目(2022NSFSC0932)
出版年
2024
国家科技期刊平台
NSTL
万方数据