Abstract
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.
Translated title of the contribution | Cooperation path planning of multi-UAV in road-network continuous monitoring |
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Original language | Chinese (Traditional) |
Article number | 723753 |
Journal | Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica |
Volume | 41 |
DOIs | |
State | Published - 25 Jun 2020 |