一种为地面WSN充电的无人机碰撞规避路径规划方法

doi:10.11896／j.issn.1002-137X.2019.01.025

计算机科学 ›› 2019, Vol. 46 ›› Issue (1): 162-168.doi: 10.11896／j.issn.1002-137X.2019.01.025

一种为地面WSN充电的无人机碰撞规避路径规划方法

胡洁¹, 兰玉彬², 欧阳帆²

(华南农业大学电子工程学院广州510642)¹
(华南农业大学工程学院广州510642)²

收稿日期:2018-01-02 出版日期:2019-01-15 发布日期:2019-02-25
作者简介:胡洁(1980-),女,博士,副教授,硕士生导师,主要研究方向为精准农业航空控制技术、无线通信技术在农业中的应用,E-mail:hjgz79@scau.edu.cn(通信作者);兰玉彬(1961-),男,博士,博士生导师,主要研究方向为精准农业航空、航空施药技术和航空遥感技术的开发与应用研究;欧阳帆(1986-),男,博士,讲师,主要研究方向为精准农业航空、航空施药技术。
基金资助:
广东省自然科学基金(2015A030310334),广东省省级科技计划项目(2016A020210081),广东省重大科技计划项目(2017B010116003)资助

Anti-collision Route Planning of UAVs for Charging Ground WSN

HU Jie¹, LAN Yu-bin², OUYANG Fan²

(College of Electronic Engineering,South China Agriculture University,Guangzhou 510642,China)¹
(College of Engineering,South China Agriculture University,Guangzhou 510642,China)²

Received:2018-01-02 Online:2019-01-15 Published:2019-02-25

摘要/Abstract

摘要： 多个无人机为大面积分布的地面传感器节点无线充电的应用中,飞行路线的规划关系着无线传感器网络的覆盖率及生命周期,但无人机有限的续航时间及规避碰撞等约束增加了路径规划的难度。文中首先提出一种集中式逐次贪婪路径规划算法(Sequential Geedy Route Planning Scheme,SGRP),令无人机在已知节点位置信息的情况下,根据自身的资源逐个将节点纳入任务集并放置在路径的最合适顺序上。理论证明,SGRP算法在最差情况下也能获得最优规划算法50%的性能。接着在SGRP算法的基础上,基于改进的CPA碰撞检测模型设计了逐次贪婪碰撞规避路径规划算法SGACRP。该算法每次迭代选择一个节点、无人机及路径顺序的最佳匹配组合,在最大化收益的同时满足了无人机资源受限及碰撞规避的要求。最后以时间折扣型函数作为无人机收益函数,通过仿真验证了碰撞规避措施的有效性,同时验证了碰撞规避算法虽然增加了无线传感器网络的总充电完成时间,但并不影响其监测率。另一方面,仿真证明了根据与目标点的距离设置节点的固定收益,能有效改善地面无线传感器网络的监测概率。

关键词: CPA, 路线规划, 碰撞规避, 无线充电

Abstract: In the application of wireless charging for large-scale ground sensor nodes by multi-UAVs,route planning schemes have a great influence on the coverage probability and the lifetime of WSN.However,the limited flight duration and collision avoidance constraints increase the difficulty of flight route planning.Firstly,this paper proposed a centra-lized Sequential Greedy Route Planning Scheme (SGRP).In SGRP,with the position information of ground nodes,UAVs add nodes sequentially to the task sets and put them to the most appropriate order of the routes.Theoretical analysis proves that even in the worst case,SGRP can guarantee at least 50% performance compared with optimal route planning scheme.Secondly,based on SGRP,with the modified CPA collision detection model,this paper designed a Sequential Greedy Anti-collision Route Planning Scheme(SGACRP).In SGACRP,an optimal matched combination of node,UAV and ordered path is selected at each iteration,maximizing the utility and meeting the requirements of the limited UAVs’ resource and collision avoidance.Finally,by taking the time-discounted reward function as the utility function,simulation proves the effectiveness of the anti-collision measure,and verifies that though an increased charging completion time of WSN is caused by the proposed anti-collision measure,no loss is made to the monitoring probability of WSN.On the other hand,simulation proves that setting the static scores of nodes as different values according to their distance to objects can effectively improve the monitoring probability of ground WSN.

Key words: Closest point of approach, Collision avoidance, Route planning, Wireless charging

中图分类号:

TN915.9

胡洁, 兰玉彬, 欧阳帆. 一种为地面WSN充电的无人机碰撞规避路径规划方法[J]. 计算机科学, 2019, 46(1): 162-168. https://doi.org/10.11896／j.issn.1002-137X.2019.01.025

HU Jie, LAN Yu-bin, OUYANG Fan. Anti-collision Route Planning of UAVs for Charging Ground WSN[J]. Computer Science, 2019, 46(1): 162-168. https://doi.org/10.11896／j.issn.1002-137X.2019.01.025

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一种为地面WSN充电的无人机碰撞规避路径规划方法

Anti-collision Route Planning of UAVs for Charging Ground WSN

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