改进ABC算法无人机群多目标灭火救援任务规划

Multi-target fire rescue mission planning of UAV swarm based on improved ABC algorithm

针对同区域多处爆发火灾情形下,因各处火情时变而导致无人机群多目标实施救援效率低的情况,提出了无人机群对多火点目标灭火救援路径规划方法。考虑到火点救援任务时效性和救援资源有限性,建立了火点目标救援价值随时间变化的无人机群救援路径规划模型,实现了为救援指挥者提供更符合实际救援需求的动态决策。为了有效地求解模型,提出了基于Metropolis接受准则的改进蜂群算法,有效提高了算法求解精度。仿真试验结果表明,在多目标救援总价值提升的情况下,救援任务整体规划能力提升了11.65%。研究成果在实际灭火救援活动中能够发挥重要的作用。

In view of the situation of multiple fires in the same area,the efficiency of multi-target rescue by UAV group is low due to the time change of fire conditions,so a fire rescue route planning method of UAV group against multi-fire targets is proposed.First of all,considering the timeliness of fire rescue mission and limited rescue resources,a rescue path planning model of UAV group based on the change of fire rescue value over time was established,which realized the dynamic decision making more in line with the actual rescue requirements for rescue commanders.Secondly,in order to effectively solve the model,an improved bee colony algorithm based on Metropolis acceptance criterion is proposed,which effectively improves the solving accuracy of the algorithm.Through the simulation experiment,the results show that the overall planning ability of rescue task is improved by 11.65%when the total value of multi-objective rescue is increased.The research results can play an important role in actual fire fighting and rescue activities.