Planning of Path-Crossing Surveying and Mapping Tasks
Unlike the traditional multiple Traveling Salesmen Problem(mTSP),the task planning for small aircraft surveying and mapping involves each surveying target requiring multiple surveying payloads,and there is also a time interval between multiple surveying,which is called path-crossing multiple trave-ling salesman path planning problem.For point target surveying task scenarios,the goal of solving the minimum number of aircraft is transformed into solving the shortest navigation path.On the basis of sol-ving the shortest path by genetic algorithm,combined with detection load constraints,detection task dura-tion constraints,and other conditions,the optimal scheduling scheme is further planned.For the planning of point target and regional target mapping tasks,taking the balance of the workload of each airport's map-ping tasks into consideration,the mapping workload index is defined as the number of mapping target points and target roads completed by each airport.The demodulation strategy and the number of aircraft are first calculated,and then the equilibrium is solved to ensure that the number of target points and target roads detected by the three airports is equivalent.The results indicate that the proposed scheme balances both the surveying and mapping costs and the equity of task allocation.
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