启发式多无人机协同路网持续监视轨迹规划

研究了旋翼无人机组在路网环境下的协同持续监视问题。基于最优化原理定义了路网持续监视问题。通过简化路网离散过程、考虑传感器识别准确度、引入不确定度度量，提出面向事件的路网持续监视问题建模方法。针对路网持续监视轨迹规划问题的特殊性，设计了一种启发式多无人机协同轨迹规划算法。通过理论分析和仿真对比，表明了算法的可行性、准确性和通用性。所提算法作为对当前路网巡逻方法的扩充，不仅可解决实际路网移动持续监视任务，也为基于图模型的持续数据采集、连续覆盖等任务提供一种解决方案。

Cooperation path planning of multi-UAV in road-network continuous monitoring

In this paper, the problem of continuous monitoring of rotor UAVs in road-network environment is studied. Based on the optimization principle, the multi-UAVs road-network continuous monitoring problem is defined. By simplifying the discrete process for environment, considering the detection accuracy of sensors, and introducing uncertainty measurement, a model for road-network continuous monitoring is constructed. To address the particularity of path planning in continuous monitoring, a heuristic multi-UAVs cooperative path planning algorithm is designed. The theoretical analysis and simulation comparison verify the feasibility, accuracy, and generality of the proposed algorithm in multi-UAVs road-network continuous monitoring. As an extension of road-network patrolling method, this algorithm can not only provide a solution for the continuous monitoring task of road-network, but also be applied to the persistent data collection and continuous coverage tasks based on the graph model.