考虑船舶实时位置的船舶尾气排放无人机检测路径优化

Unmanned aerial vehicle detection path optimization of ship exhaust emissions considering real⁃time location of ships

为提高无人机检测船舶尾气排放的效率,研究无人机和船舶同时移动情况下的无人机路径规划问题。针对检测过程中船舶位置实时变化的特征,采用“会面”模型求解船舶与无人机的相遇位置,并据此建立一种面向运动船舶以最小飞行距离为目标的无人机路径优化模型,实现多无人机协同检测。结合序列插入算法设计两阶段算法和基于DroneByDrone和ShipByShip两种船舶序列分解策略的遗传算法,实现不同规模场景下的无人机路径优化。数值试验表明,综合考虑无人机飞行和船舶航行的路径优化方法可以有效提高对运动船舶的检测效率;两种算法均能成功求解模型,但相较两阶段算法,遗传算法求解时间可缩短65.12%,满足求解时效性的要求;无人机飞行距离对无人机数量具有显著敏感性,在相同数据集中,派遣两架无人机相比三架无人机,飞行距离可优化25%,但检测时间会相应延迟8%;根据实验场景综合优化无人机基站位置、无人机数量和速度,可以有效缩短无人机飞行距离,提高检测效率。

To improve the efficiency of unmanned aerial vehi⁃cle(UAV)detection of ship exhaust emissions,the path planning problem of UAV when both UAV and ship were mov⁃ing simultaneously has been investigated.Aiming at the real⁃time changes of the ships position during the detection process,the“meeting”model was adopted to solve the en⁃counter position of ships and UAV,and a UAV path optimiza⁃tion model targeting the minimum flight distance of moving ships was established to achieve collaborative detection of multiple UAVs accordingly.The two⁃stage algorithm by combi⁃ning sequence insertion algorithm and a genetic algorithm based on two ship sequence decomposition strategies,DroneByDrone and ShipByShip were designed to achieve UAV path optimization in scenarios of different scales.Numerical experiments show that a path optimization method that taking into account of both UAV flight and ship navigation can effec⁃tively improve the detection efficiency of moving ships.Both algorithms can successfully solve the model,but compared to the two⁃stage algorithm,the genetic algorithm can shorten the solving time by 65.12%,meeting the requirements of solving timeliness.The flight distance of UAVs is significantly sensi⁃tive to the number of UAVs,in the same dataset,dispatching two UAVs can optimize the flight distance by 25%compared to three UAVs,but the detection time will be correspondingly delayed by 8%.By comprehensively optimizing the position of UAV base stations,the number and speed of UAVs based on experimental scenarios,the flight distance of UAVs can be ef⁃fectively shortened,and the detection efficiency can be im⁃proved.