摘要
针对多无人机协同工作的航线规划问题要求,运用不同算法,采用多种约束条件设计出合适的方案。利用避圈法求对每一目标群进行对目标侦查的最短路径,以不少于10个目标群的约束条件下,得出10个目标群内部的最短侦查路径及侦查顺序,利用退火算法得出各目标群及其内部的最短路径。设计出对所有目标的侦查方案,使得侦查无人机滞留防御方雷达区时长最短,并提出实际应用中较可行性的方案。
According to the route planning problem for multiple UAV cooperative work requirements,a suitable scheme is designedusing different algorithms and a variety of constraints.The shortest path of target investigation is obtained for each target group byusing Krustal.Under the constraint condition of no less than10target groups,the shortest route of investigation and the sequence ofinvestigation within the10target groups are obtained,the shortest path of each target group and its interior is obtained by annealingalgorithm.A reconnaissance plan for all targets is designed,which makes the length of the radar area of the surveillance UAVremaining at the defense zone minimum,and a feasible scheme in practical application is put forward.
作者
刘兵
崔建昆
Liu Bing;Cui Jiankun(College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)
出处
《农业装备与车辆工程》
2017年第10期71-74,共4页
Agricultural Equipment & Vehicle Engineering
