无人机在水环境监测中的航迹规划
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摘要
无人机在水环境监测中,受其物理性能和风险因素影响无法一次性的对所有区域进行监测,充分发挥无人机的使用效率变得极为重要。提出了无人机在水环境监测中的最优航迹规划问题,建立了该问题的数学模型,在此基础上提出了一种基于遗传—模拟退火优化算法,采用网格空间表示与方向编码相结合的方法减小了计算量。仿真实验结果表明:该方法能够得到比遗传算法更优的解,可以有效解决无人机在水环境监测中的航迹规划问题。
In water environmental monitoring,unmanned aerial vehicle(UAV) can not monitor all the areas at a time due to the influence of its physical properties and risk factor.So it’s extremely important to bring the service efficiency of the UAV into full play.The optimal path planning problem of the UAV for water environmental monitoring is presented and a mathematic model of the problem is built up.On the basis of this,a geneticsimulation annealing algorithm is presented.The computational amount is decreased,a method combined of both grid space indication and directional code is adopted.The simulation test result indicates that this method can get a better solution than genetic algorithm and it can resolve the path planning problem of the UAV for water environmental monitoring effectively.
In water environmental monitoring,unmanned aerial vehicle(UAV) can not monitor all the areas at a time due to the influence of its physical properties and risk factor.So it’s extremely important to bring the service efficiency of the UAV into full play.The optimal path planning problem of the UAV for water environmental monitoring is presented and a mathematic model of the problem is built up.On the basis of this,a geneticsimulation annealing algorithm is presented.The computational amount is decreased,a method combined of both grid space indication and directional code is adopted.The simulation test result indicates that this method can get a better solution than genetic algorithm and it can resolve the path planning problem of the UAV for water environmental monitoring effectively.
引文
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[12]缪永飞.军用飞行器航迹规划与显示技术研究[D].长沙:国防科技大学,2006:24-26.
[2]齐文启,陈光,孙宗光.水质环境监测技术和仪器的发展[J].现代科学仪器,2003,13(6):8-12.
[3]武万峰,徐立中,徐鸿.水质自动检测技术综述[J].水利水文自动化,2004,22(1):14-18.
[4]蒋鹏.基于无线传感器网络的湿地水环境数据视频监测系统[J].传感技术学报,2009(2):244-248.
[5]Liu Rei,Xie Tao,Wang Qiao,et al.Space-earth based integratedmonitoring system for water environment[J].Procedia Environ-mental Sciences,2010,2:1307-1314.
[6]金伟,葛宏立,杜华强,等.无人机遥感发展与应用发展概况[J].遥感技术,2009(1):244-248.
[7]马轮基,马瑞升,林宗桂,等.微型无人机遥感应用初探[J].广西气象,2005,26(增刊1):180-181.
[8]童玲,李玉霞,赵忠明,等.低空遥感技术与地震堰塞湖监测[J].中国科学基金,2008,22(6):335-338.
[9]左益宏,刘长安,罗昌行,等.多无人机监控航路规划[J].飞行力学,2004,22(3):031-034.
[10]唐强,张翔伦,左玲.无人机航迹规划算法的初步研究[J].航空计算技术,2003,33(1):125-128.
[11]周明,孙树栋.遗传算法原理及应用[M].北京:国防工业出版社,1999:45-47.
[12]缪永飞.军用飞行器航迹规划与显示技术研究[D].长沙:国防科技大学,2006:24-26.
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