沈阳航空航天大学学报2025，Vol.42Issue(6)：63-70,8.DOI:10.3969/j.issn.2095-1248.2025.06.008
搜救场景下UAV-UGV协同搜索任务规划
Collaborative search task planning for UAV-UGV in search and rescue scenarios
摘要
Abstract
To address the collaborative search task planning issue for unmanned aerial vehicles(UAV)and unmanned ground vehicles(UGV)in search and rescue scenarios,a method that combines centralized task allocation with independent path planning was proposed.Firstly,tasks were clarified based on requirements and assigned to UAV and UGV.Firstly,the UAV and UGV conducted trajectory planning and path planning independently according to their assigned tasks.For the task allocation problem,a multi-objective area segmentation and allocation model based on task types was proposed,and an adaptive hybrid algorithnm incorporating genetic algorithm and tabu search was developed in solution.For trajectory planning,a"traveling salesman path-area coverage path planning"model was constructed based on the task requirements of the UAV,employing an improved genetic algorithm that introduced an"S"-shaped path as the initial population and designed a fitness function to optimize the selection process.Regarding the path planning for UGV,a method that combines A* algorithm with artificial potential field algorithm was proposed to find the optimal traveling path.Simulation results indicate that the proposed algorithm effectively completes search tasks and shows significant improvements in both task execution efficiency and path planning accuracy compared to commonly used genetic algorithms and A* algorithms.关键词
任务分配/独立路径规划/遗传算法/禁忌搜索算法/搜救场景Key words
task allocation/path planning/genetic algorithm/tabu search/search and rescue scene分类
航空航天引用本文复制引用
LU Yanjun,WANG Mingchuang,ZHANG Xiaodong..搜救场景下UAV-UGV协同搜索任务规划[J].沈阳航空航天大学学报,2025,42(6):63-70,8.基金项目
国家重点研发计划项目(项目编号:2022YFC2903800). （项目编号:2022YFC2903800）
