计算机技术与发展2026，Vol.36Issue(6)：121-127,7.DOI:10.20165/j.cnki.ISSN1673-629X.2025.0347
动态时空约束下多无人设备协同路径规划方法研究
Research on Cooperative Path Planning Method for Multiple Unmanned Devices under Dynamic Spatiotemporal Constraints
摘要
Abstract
To address the challenges in dynamic ocean monitoring missions,such as complex spatiotemporal constraints,time-varying en-vironments,and limited device resources,we propose a cooperative path planning method for multiple unmanned devices under dynamic spatiotemporal constraints.The approach establishes a heterogeneous cooperative system model,which uses an unmanned surface vehicle(USV)as a mobile base station and multiple unmanned aerial vehicles(UAVs)as multi-source sensing nodes.Task decomposition and dynamic scheduling are achieved through task partitioning and energy consumption modeling.To overcome the limitations of traditional genetic algorithms,such as easily falling into local optima and slow convergence in dynamic environments,an improved genetic algorithm based on dynamic spatiotemporal constraints(IGA-D)is introduced.The proposed algorithm incorporates a spatiotemporal constraint encoding strategy,an adaptive mechanism for dynamically adjusting crossover and mutation probabilities,and a periodic variable neighborhood search(VNS)module,thereby enhancing both global search capability and responsiveness to dynamic conditions.Simulation experiments were conducted in a scenario simulating the dynamic diffusion of pollutants in the Zhoushan sea area.It is dem-onstrated that the proposed algorithm significantly outperforms improved DWA,PSO-GA,and conventional algorithms in key performance metrics,including path length,mission completion time,load balancing,and dynamic response speed,with high stability.It is thus well-suited for cooperative detection tasks in complex and dynamic environments.关键词
动态时空约束/异构协同系统/改进遗传算法/多无人设备协同/路径规划/环境监测Key words
dynamic spatiotemporal constraints/heterogeneous cooperative system/improved genetic algorithm/multi-UAV collaboration/path planning/environmental monitoring分类
信息技术与安全科学引用本文复制引用
张进,汪兴平,吴麟,高震宇,杨伟超..动态时空约束下多无人设备协同路径规划方法研究[J].计算机技术与发展,2026,36(6):121-127,7.基金项目
西藏自治区科技计划项目(XZ202403ZY0014) （XZ202403ZY0014）
民航局安全能力建设项目(2022237) （2022237）
四川省大学生创新训练计划项目(S2024106075) （S2024106075）
