系统管理学报2025，Vol.34Issue(5)：1305-1315,11.DOI:10.3969/j.issn2097-4558.2025.05.009
洪涝灾害场景下空地联合的搜救路径规划
Joint Air-Ground Route Planning of Searching and Rescue During Flood Disaster
摘要
Abstract
To address the difficulties in obtaining information about environment and road network in the rescue area in flood disaster,unmanned aerial vehicles(UAVs)are applied to the post-disaster survey work,and a research framework for the path planning system of air-ground joint is proposed for the whole rescue process,involving three stages:UAVs searching,image processing,and disaster rescue.The path planning problem of UAVs is abstracted into a complete coverage path planning model,and the region segmentation-path planning algorithm considering energy consumption is used to solve the problem.Then,through the image processing module,the information of road network and personnel location in the disaster area is extracted.The rescue path problem in disaster area is set up as a capacitated vehicle route planning model and solved by particle swarm optimization.The example shows that the planning algorithm of UAVs can reduce the energy consumption by 14.9％,and the average utilization rate of rescue tools obtained by the path planning algorithm reaches 92.5％.Finally,the effects of different capacities of rescue tools on rescue time and cost are quantitatively analyzed,and suggestions on the use of rescue tools are given in different rescue scenarios.关键词
灾后救援/无人驾驶飞机/路径规划Key words
post-disaster relief/unmanned aerial vehicles(UAVs)/path planning分类
航空航天引用本文复制引用
LÜ Ying,LI Yue,SUN Huijun..洪涝灾害场景下空地联合的搜救路径规划[J].系统管理学报,2025,34(5):1305-1315,11.基金项目
教育部人文社会科学研究规划基金资助项目(22YJA630074) （22YJA630074）
