具有持续侦察时间约束的协同航路规划

为获得目标有效信息，无人机（UAVs）执行侦察任务时针对不同目标所需的持续侦察时间存在一定的差异。本文假设无人机在目标持续侦察过程中保持定直平飞以确保有效侦察，针对至多3个侦察任务重叠的情况，通过几何分析，提出了存在侦察任务重叠情况下的多侦察任务同时侦察方法。在考虑侦察任务重叠和多机协同侦察的同时，以最小化侦察路径长度为性能指标，相邻侦察点间采用Dubins曲线进行航路规划，利用引入精英机制的混合粒子群优化算法实现侦察任务序列优化，实现具有持续侦察时间约束的协同航路规划。仿真结果表明提出算法的有效性。

Cooperative path planning with reconnaissance duration time constraints

When performing reconnaissance tasks, unmanned aerial vehicles (UAVs) keep reconnoitering the targets during different reconnaissance time for acquiring effective target information. It is assumed that UAVs fly in a straight line, which is suitable for better reconnaissance results during reconnaissance missions. A new simultaneous reconnaissance scheme was proposed by geometrical analysis for less than or equal to three reconnaissance mission overlapping. For the purpose of minimizing cooperative reconnaissance path length, modified hybrid particle swarm optimization algorithm with elitism mechanism was used to optimize the reconnaissance sequence, and the path planning was implemented between consecutive reconnaissance missions by Dubins path, with consideration of reconnaissance missions overlapping and reconnaissance duration time constraints. Simulation results demonstrate the effectiveness of the proposed method.