多无人机监控航路规划

Path Planning for Surveillance of Multiple Unmanned Air Vehicles

为了提高监控任务的效率,在执行任务前必须规划设计出高效的无人机飞行航路。针对这一问题,考虑在任务区域内进行多无人机监控航路优化存在计算的复杂性和收敛性以及计算数据量限制等问题,采用分散式方法对监控航路进行了优化,并以无人机的监控任务为例提出了一种监控效率指标评估的计算方法,解决了航路规划中的监控效率量化问题。通过该方法得到的无人机监控任务的飞行航路可以有效地提高无人机的监控效率。

To improve the efficiency of the UAV's mission, the highly effective path the UAV will fly during the execution of the mission should be planned before the mission carried out. For the requirement of efficiency, this paper presents a fast method to calculate efficiency index of each path, which solve the quantity problem of the efficiency. Considering the complexity and the convergence problems with the route planning in a large-scale mission area, a decentralized method is adopted to deal with the paths planning problem of multiple UAVs in this thesis. Simulation results show that the optimal trajectory can maximize the reconnaissance efficiency with ease.