Multi-UAV/UGV collaborative long-term operation path planning method based on multi-objective optimization

Abstract

The invention discloses a multi-UAV / UGV collaborative long-term operation path planning method based on multi-objective optimization. The method comprises the following steps: converting a multi-taskfixed charging point problem into a traveling salesman problem for solving through a construction method of a graph of a multi-task fixed charging point problem; according to the construction method of the graph of a multi-task discrete charging point problem, converting the multi-task discrete charging point problem into an equivalent generalized traveling salesman problem to be solved by utilizing a graph conversion algorithm; using a heuristic algorithm ALFG for directly solving the generalized traveling salesman problem; and solving the UAV / UGVs long-term multi-target path planning problemby using a solving algorithm MOALP. According to the multi-UAV / UGV collaborative long-time operation path planning method based on multi-objective optimization, the operation efficiency, the operation duration and the operation range of a ground-air collaborative robot can be effectively improved, more operation task requirements are met, and the higher autonomy effect is achieved.

Description

technical field [0001] The invention relates to the field of multi-UAV / UGV collaborative long-term operation path planning for multi-objective optimization of unmanned aerial vehicles. Background technique [0002] The current UAV / UGV long-term path planning research has the following problems: First, the current research on UAV / UGV long-term operations mainly focuses on the UGV path planning, and only considers the UAV with access point constraints, UGV only needs to Satisfy the charging constraints; Second, the current solution to the generalized traveling salesman problem lacks a heuristic direct solution algorithm; Third, there are many researches on UAV / UGV cooperative multi-objective path planning, but there is a lack of UAV / UGV long-term cooperative multi-objective path planning. Research. Contents of the invention [0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a multi-UAV / UGV collaborative ...

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Problems solved by technology

[0002] The current UAV / UGV long-term path planning research has the following problems: First, the current research on UAV / UGV long-term operations mainly focuses on UGV path planning, and only considers the UAV with access point constraints, UGV only needs to Satisfy the charging constraints; Second, the current solution to the generalized traveling salesman problem lacks a heuristic direct solution algorithm; Third, there are many researches on UAV / UGV cooperative multi-objective path planning, but there is a lack of UAV / UGV long-term cooperative multi-objective path planning. Research

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