Modeling and track generating method for patrol problem of road network area of ground mobile unit

Abstract

The invention provides a modeling and track generating method for a patrol problem of a road network area of a ground mobile unit. The method includes: forming an undirected graph, constructing an unmanned vehicle monitoring accuracy model through a piecewise probability function of a relative distance d from a detection point to the center of the unmanned vehicle; calculating the situation uncertainty, calculating a monitoring income value when the unmanned vehicle is located at a certain interest point, finding out the shortest path from the unmanned vehicle to the maximum monitoring incomeposition, and moving a time unit along the planned path until the unmanned vehicle arrives at one point in the V. The undirected graph obtained by the method has higher universality, can better meet the requirements of actual monitoring tasks, and can realize cooperative patrol processing of a heterogeneous system; patrol of a single unmanned vehicle with known monitoring capability in a real roadnetwork environment can be realized. The method is especially suitable for a mobile continuous monitoring task of a real ground road network environment.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a method for modeling and trajectory generation of regional patrol problems. Background technique [0002] Mobile continuous surveillance with the goal of continuously updating target area information is of great significance to battlefield search, intrusion detection, security, and local combat. Security and mobile monitoring tasks in large-area road network areas are a special road network patrol problem. In the task, the probability of occurrence of events in various places in the area is unknown, and it is required to monitor all places with a uniform access frequency as much as possible while meeting the monitoring level requirements of key areas. At the same time, the trajectory of mobile units should be random to prevent enemy infiltration. [0003] Although numerous approaches to patrol trajectory generation exist, the patrol models are nearly identical. The current modelin...

AI Technical Summary

Problems solved by technology

[0004] a) Difficulty in environment discreteness: In a real complex environment, due to the high difficulty of environment modeling, it is difficult to find the optimal solution for complete coverage of the task area in the setting of points in the patrol undirected graph;

[0005] b) Insufficient versatility of the model: the undirected graph will change with the sensor coverage, changing the sensor coverage of the ground mobile unit, and the undirected graph will be regenerated, so the model is not universal;

[0006] c) The model is too idealized: The monitoring accuracy of ground mobile units is not considered in the process of patrol trajectory generation, and there is an assumption of "point-to-coverage", ignoring the dynamic coverage of ground mobile units when they move along the road network

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