一种无人机覆盖路径规划问题的算法
An Algorithm for Coverage Path Planning with Unmanned Aerial Vehicles
摘要: 无人机应用于灾害应急救援系统的道路监控，使得救援组织能及时获得道路网络状况，提供更高精度的地面信息，提升救援效率。无人机监控道路需要根据遥感成像的特点规划航迹，而时间是灾害应急救援系统设计的重要指标。为了加快航迹规划的求解速度，考虑灾害应急救援系统的道路监控问题的特点，建立了集合覆盖模型。提出将该问题解耦成两个子问题的三阶段算法，根据约束条件推导出可行域，缩短了算法的搜索时间。最后通过一个具体算例验证了算法的可行性。
Abstract: The application of Unmanned Aerial Vehicles in road monitoring of disaster emergency rescue system which enables rescue organizations to obtain road network conditions in time provides more accurate ground information and improves rescue efficiency. Monitoring road by unmanned aerial vehicles needs to path planning according to the characteristics of remote sensing imaging and time is an important index of disaster emergency rescue system design. In order to speed up the solution of track planning, a set coverage model is established considering the characteristics of road monitoring in disaster emergency rescue system. A three-stage algorithm is proposed to decouple the problem into two subproblems. Finally, a concrete example is given to verify the fea-sibility of the algorithm.
文章引用：徐迅, 管玉洁, 黄雅娟, 吴烨. 一种无人机覆盖路径规划问题的算法[J]. 应用数学进展, 2019, 8(8): 1457-1462. https://doi.org/10.12677/AAM.2019.88170

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