一种中继无人机快速部署策略

针对任务规划中中继无人机部署效率低，部署方案无法满足最少数量要求等问题，提出了一种中继无人机快速部署策略。首先，根据最少中继节点的任务要求，建立了基于最少中继节点的部署模型。其次，优化了深度优先搜索算法的搜索方式，实现了节点间可行链路的快速搜索。最后，在人工蜂群(ABC)算法中引入快速深度优先搜索(DFS)算法，来求解最少中继节点部署方案。仿真结果表明:在相同任务规模下，所提策略的求解速度相较于改进前提高了53.56%左右，部署的中继无人机数量相较于现有方法减小了11.88%左右。 

A rapid deployment strategy of relay unmanned aerial vehicle

In order to solve the problems in mission planning, such as the low deployment efficiency of relay Unmanned Aerial Vehicle (UAV) and the deployment scheme cannot meet the minimum number requirements, a fast relay UAV deployment strategy is proposed. First, according to the task requirements of the least relay nodes, a deployment model based on the least relay nodes is established. Then, the search mode of the depth-first search algorithm is optimized, and the fast search of feasible links between nodes is realized. Finally, the Rapid Depth-First Search (RDFS) algorithm is introduced into the Artificial Bee Colony (ABC) algorithm to solve the deployment scheme of the least relay nodes. The simulation results show that under the same task scale, the solution speed of this strategy is about 53.56% higher than that before improvement, and the number of deployed relay UAVs is reduced by about 11.88% compared with the existing methods.