广东工业大学学报 ›› 2023, Vol. 40 ›› Issue (05): 64-72.doi: 10.12052/gdutxb.220131
• 综合研究 • 上一篇
叶深文1, 张钢1, 罗志勇2
Ye Shen-wen1, Zhang Gang1, Luo Zhi-yong2
摘要: 无人机集群巡检道路过程中普遍存在无航线规划或规划困难、无人机利用率不均衡、难以确定分布式机场地址等问题。为此,本文首先构建了巡检地图,去除地图中与道路巡检无关的多余信息。其次,将航线规划和机场选址统一在多目标优化的框架中。第三,提出了融合航线优化与机场选址的粒子编码方法、更新规则和解码方法。第四,提出了较为全面的评价指标,用于评价航线规划及机场选址的效果。实验结果表明:(1) 采用本文的方法,优化后的巡检航线重复部分低于总里程的7%,无人机利用均衡率在75%以上。(2) 优化后,分布式机场的重复利用率得到显著提高。可见,本文提出的方法能较好地规划无人机道路巡检任务的航线,均衡无人机的使用,选择较佳位置作为分布式机场的地址。这为构建道路巡检的全自主无人机集群巡检系统奠定了基础。
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