基于能量约束的无人机群巡检路径优化
Optimized Path Planning for Inspection by Unmanned Aerial Vehicles Swarm with Energy Constraints
AI总结：
本文提出一种考虑无人机能量限制的高效路径规划算法，通过优化飞行、悬停和数据传输能耗，降低巡检总时间和能量消耗，为自主巡检系统设计提供指导。
摘要：
自主巡检大规模地理区域是未来智能城市等物理信息系统中高效危险检测和灾害管理的核心要求。本文提出一种新的路径规划算法，用于在严格能量可用性约束下实现高效的巡检。所开发的框架考虑了无人机群在巡检操作中的所有能耗方面，包括飞行、悬停和数据传输所需的能量。证明所提出的算法可以在多项式时间内高效解决路径规划问题。仿真结果表明，该算法在减少总体巡检时间和能量消耗方面有显著优势。此外，结果还为设计自主巡检系统提供了确定所需无人机数量和能量水平的指导。
英文摘要：
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle (UAV) swarms is a promising solution to inspect vast areas efficiently and with low cost. In fact, UAVs can easily fly and reach inspection points, record surveillance data, and send this information to a wireless base station (BS). Nonetheless, in many cases, such as operations at remote areas, the UAVs cannot be guided directly by the BS in real-time to find their path. Moreover, another key challenge of inspection by UAVs is the limited battery capacity. Thus, realizing the vision of autonomous inspection via UAVs requires energy-efficient path planning that takes into account the energy constraint of each individual UAV. In this paper, a novel path planning algorithm is proposed for performing energy-efficient inspection, under stringent energy availability constraints for each UAV. The developed framework takes into account all aspects of energy consumption for a UAV swarm during the inspection operations, including energy required for flying, hovering, and data transmission. It is shown that the proposed algorithm can address the path planning problem efficiently in polynomial time. Simulation results show that the proposed algorithm can yield substantial performance gains in terms of minimizing the overall inspection time and energy. Moreover, the results provide guidelines to determine parameters such as the number of required UAVs and amount of energy, while designing an autonomous inspection system.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
