收藏本站
收藏 | 手机打开
二维码
手机客户端打开本文

Multi-UAV Cooperative 3D Coverage Path Planning Based on Asynchronous Ant Colony Optimization

Hui Li  Yang Chen  Zhihuan Chen  Huaiyu Wu  
【摘要】:UAVs carrying visual sensors to capture the defects on the building surface has the advantages of high efficiency,low cost,flexibility and convenience.This kind of inspection task is called coverage path planning problem in 3 D space.When the target to be detected is a large complex building,multi-UAV collaboration is usually required.So,how to obtain the optimal path of multi-UAV becomes a great challenge.In order to solve the problem,Asynchronous Ant Colony Optimization(AACO),which makes multiple ant colonies move forward asynchronously,is proposed here to conquer the difficulty.Firstly,the random sampling method is used to get the potential UAV waypoints in the 3 D free environment,based on which a Primitive Coverage Graph(PCG) is constructed.Also,the visibility matrix and coverage rate are defined to quantify the coverage performance of UAV path primitives.Next,Asynchronous Ant Colony Optimization combined with reward strategy is proposed to solve the problem by selecting jump cities in turn.Finally,several simulations are provided to verify the feasibility and effectiveness of the algorithm.

知网文化
【相似文献】
中国期刊全文数据库 前19条
1 阎世梁;王银玲;;Using Data Mining to Find Patterns in Ant Colony Algorithm Solutions to the Travelling Salesman Problem[J];现代电子技术;2007年05期
2 ;Novel Approach to Nonlinear PID Parameter Optimization Using Ant Colony Optimization Algorithm[J];Journal of Bionics Engineering;2006年02期
3 白洁,邵宗鸿,刘鸿,施均,何广胜,曹燕然,崔振珠,吴玉红,孙娟,田征,贾海蓉,钱林生,杨天楹,杨崇礼;Endogenous erythroid colony assay in patients with polycythemia vera and its clinical significance[J];Chinese Medical Journal;2004年05期
4 李艳君,吴铁军;An adaptive ant colony system algorithm for continuous-space optimization problems[J];"Journal of Zhejiang University Science J";2003年01期
5 丁亚平,吴庆生,苏庆德;Ant Colony Algorithm and Optimization of Test Conditions in Analytical Chemistry[J];Chinese Journal of Chemistry;2003年06期
6 ;Introduction to Ant Colony Algorithm and Its Application in CIMS[J];厦门大学学报(自然科学版);2002年S1期
7 ;Ant Colony Algorithm for Solving QoS Routing Problem[J];Wuhan University Journal of Natural Sciences;2004年04期
8 Yi ZHOU;Fazhi HE;Yimin QIU;;Dynamic strategy based parallel ant colony optimization on GPUs for TSPs[J];Science China(Information Sciences);2017年06期
9 Wang Shijin;Li Qingyun;Cao Xi;Li Haiyun;;Optimization of Air Route Network Nodes to Avoid ″Three Areas″ Based on An Adaptive Ant Colony Algorithm[J];Transactions of Nanjing University of Aeronautics and Astronautics;2016年04期
10 赵凤遥;马震岳;张运良;;Identification of Dynamic Parameters Based on Pseudo-Parallel Ant Colony Optimization Algorithm[J];Journal of Southwest Jiaotong University(English Edition);2007年02期
11 LIU Qianru;XUE Linfu;PAN Baozhi;ZHANG Cheng'en;MA Junming;YU Henan;QI Caisong;;Fracture detecting based on Ant Colony Algorithm[J];Global Geology;2013年02期
12 ;A Routing Algorithm for Risk-Scanning Agents Using Ant Colony Algorithm in P2P Network[J];Wuhan University Journal of Natural Sciences;2006年05期
13 Lei Huo;Zhiliang Wang;;Service Composition Instantiation Based on Cross-Modified Artificial Bee Colony Algorithm[J];中国通信;2016年10期
14 ;The optimal time-frequency atom search based on a modified ant colony algorithm[J];Optoelectronics Letters;2008年03期
15 ;A Novel Approach to the Convergence Proof of Ant Colony Algorithm and Its MATLAB GUI-Based Realization[J];International Journal of Plant Engineering and Management;2006年02期
16 肖燕;林雯;刘勤;金润铭;费洪宝;;Direct Infection of Colony Forming Unit-Megakaryocyte by Human Cytomegalovirus Contributes the Pathogenesis of Idiopathic Thrombocytopenic Purpura[J];华中科技大学学报(医学英德文版);2006年05期
17 宋锦娟;白艳萍;;An improved ant colony algorithm and its application in optimal routing problem[J];Journal of Measurement Science and Instrumentation;2013年01期
18 KHAN Salabat;BAIG Abdul Rauf;ALI Armughan;HAIDER Bilal;KHAN Farman Ali;DURRANI Mehr Yahya;ISHTIAQ Muhammad;;Unordered rule discovery using Ant Colony Optimization[J];Science China(Information Sciences);2014年09期
19 ;An ant colony algorithm for solving Max-cut problem[J];Progress in Natural Science;2008年09期
中国重要会议论文全文数据库 前20条
1 Tao Chen;Xinyu Lv;Shengying Wang;Na Ta;Jing Zhao;Xinpei Chen;Mingxia Xiao;Haicheng Wei;;Research on Improved Potential Field Ant Colony Algorithm for UAV Path Planning[A];第33届中国控制与决策会议论文集(7)[C];2021年
2 Ming-Yuan Gao;Bin-Bin Hu;Bin Liu;Ning Qiu;Hai-Tao Zhang;;Constrained Path-Planning Control of Unmanned Surface Vessels via Ant-Colony Optimization[A];第40届中国控制会议论文集(7)[C];2021年
3 Hui Li;Yang Chen;Zhihuan Chen;Huaiyu Wu;;Multi-UAV Cooperative 3D Coverage Path Planning Based on Asynchronous Ant Colony Optimization[A];第40届中国控制会议论文集(8)[C];2021年
4 Xingcheng Pu;Chaowen Xiong;Longlong Zhao;;Path Planning for Robot Based on IACO-SFLA Hybrid Algorithm[A];第32届中国控制与决策会议论文集(2)[C];2020年
5 Juyi He;Hongjian Wang;Chaowei Liu;Dan Yu;;UUV Path Planning for Collision Avoidance Based on Ant Colony Algorithm[A];第三十九届中国控制会议论文集(5)[C];2020年
6 Hong Zhang;Zhiyong Zhou;Jiaxing Huang;Xiaolong Yuan;Guiling Ding;Jiandong An;;Queen traits and colony size of four bumblebee species in China[A];21世纪第三届全国蜂业科技与海峡两岸蜂产业发展大会暨首届北京密云蜂产业发展高峰论坛论文集[C];2018年
7 ;An Improved Ant Colony Algorithm and Simulation[A];2009中国控制与决策会议论文集(2)[C];2009年
8 ;STRUCTURAL OPTIMIZATION BY A COMBINATIONAL APPROACH OF ANSYS ANALYZER AND AN IMPROVED ACO ALGORITHM[A];庆祝中国力学学会成立50周年暨中国力学学会学术大会’2007论文摘要集(下)[C];2007年
9 ;A Codebook Design Scheme Based On Ant Colony Clustering[A];2008年中国高校通信类院系学术研讨会论文集(下册)[C];2009年
10 ;A Codebook Design Scheme Based On Ant Colony Clustering[A];2009年研究生学术交流会通信与信息技术论文集[C];2009年
11 ;Reactive Power Optimization for Distribution Systems Based on Dual Population Ant Colony Optimization[A];第二十七届中国控制会议论文集[C];2008年
12 ;Study on Ant Colony Optimization for People Assign to Job Problem[A];第24届中国控制与决策会议论文集[C];2012年
13 常珊;;A Molecular Docking Approach Study on Ant Colony Optimization Algorithm[A];中国生物医学工程进展——2007中国生物医学工程联合学术年会论文集(下册)[C];2007年
14 ;Application of Ant Colony Algorithms in Fault Diagnosis[A];Proceedings of the 2011 Chinese Control and Decision Conference(CCDC)[C];2011年
15 ;Research of PID Parameter Optimization Based-on Cultural Based Ant Colony Algorithm for Superheated Steam Temperature[A];第二十九届中国控制会议论文集[C];2010年
16 Du Xiang-run;ZHANG Jian-long;Feng Min-quan;;Water Supply Route Optimization for Reservoir Emergency Based on Improved Ant Colony Algorithm[A];第26届中国控制与决策会议论文集[C];2014年
17 MA Kai;YU Yangqing;HU Shubing;YANG Jie;LIU Zhixin;;Energy Management with Application to HVAC Systems Based on Bacterial Colony Chemotaxis Algorithm[A];第36届中国控制会议论文集(G)[C];2017年
18 W.H.Ip;;Model and Algorithm for the Multi-Task Routing Optimization Problem in 4PL[A];2009中国控制与决策会议论文集(2)[C];2009年
19 ;A Detection Method of Network Intrusion Based on SVM and Ant Colony Algorithm[A];Information Technology and Computer Science—Proceedings of 2012 National Conference on Information Technology and Computer Science[C];2012年
20 Liu Jian;Wang Junhong;Zhang Jie;Zhou Tong;;Based on the Orthogonal Test Method Optimizing and Settings the Ant Colony Algorithm Parameters[A];proceedings of 2010 3rd International Conference on Computer and Electrical Engineering (ICCEE 2010 no.2)[C];2012年
中国博士学位论文全文数据库 前1条
1 杨文清;巨噬细胞集落刺激因子及其受体发病学意义的探讨[D];中国协和医科大学;1999年
中国硕士学位论文全文数据库 前2条
1 杨迎润;试析约翰·温斯罗普清教思想的转变(1630-1649)[D];北京外国语大学;2015年
2 龙晓萍;连接器用Ni-W合金镀层结构及耐腐蚀性能研究[D];上海交通大学;2020年
中国重要报纸全文数据库 前3条
1 李天纲;殖民者、初来者和主人[N];文学报;2011年
2 陈广乾;IT到B.T.的进程[N];中国计算机报;2009年
3 编译:袁子;Google上市路上是非多[N];中国计算机报;2004年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978