北京航空航天大学学报2026，Vol.52Issue(9)：2987-3000,14.DOI:10.13700/j.bh.1001-5965.2025.0846
基于自适应改进蜣螂算法的高原森林灭火多无人机路径规划
Multi-UAV path planning for forest fire-fighting in plateau based on adaptive improved dung beetle optimization algorithm
摘要
Abstract
Aiming at the problem of UAV fire-fighting and rescue path planning in the complex environment of plateau forest,a multi-UAV path planning method based on an adaptive improved dung beetle optimization(AIDBO)algorithm was proposed.Based on the digital elevation model(DEM)data,a three-dimensional geospatial model of the plateau forest and mountainous area was established.Considering the influence of complex terrain,environmental wind,altitude and other factors,a multi-UAV path planning model under multiple constraints was established,taking the minimum flight time,risk cost and energy consumption as the objective function.Chaotic mapping and reverse learning optimize the population initialization,the whale optimization algorithm(WOA)introduces the spiral search strategy to enhance the position update mechanism,and adaptive Cauchy mutation improves the population's capacity to eliminate local optima.An AIDBO algorithm is proposed to solve the problem.The results showed that the average fitness of AIDBO was 10.59%and 9.82%higher than that of the original dung beetle optimization(DBO)algorithm and the improved dung beetle optimization(IDBO)algorithm,respectively.Compared with a 340 m plain environment,the maximum flight time of the UAV in a 2 400 m altitude environment is slightly increased by 0.997%,while the energy consumption is increased by 58.96%.At the same time,the wind direction and speed will also have a certain impact on the flight time and energy consumption.In addition to providing decision assistance for UAV firefighting and rescue scheduling in the plateau forests,the adaptive improved dung beetle algorithm presented in this research may greatly optimize the multi-UAV path in the plateau forests.关键词
多无人机/路径规划/高原森林/灭火救援/改进蜣螂算法/自适应Key words
multi-UAV/path planning/plateau forest/fire-fighting and rescue/improved dung beetle optimization algorithm/adaptive分类
交通工程引用本文复制引用
朱培,吕孝龙,陈凯森,宋睿,张剑高,邵荃..基于自适应改进蜣螂算法的高原森林灭火多无人机路径规划[J].北京航空航天大学学报,2026,52(9):2987-3000,14.基金项目
国家自然科学基金(52202416) （52202416）
民航应急科学与技术重点实验室开放基金(NJ2022022) National Natural Science Foundation of China(52202416) （NJ2022022）
Opening Fund of Key Laboratory of Civil Aviation Emergency Science&Technology(NJ2022022) （NJ2022022）
