Research On Path Planning Algorithm Based On Vehicle And UAV Cooperative Inspection

With the maturity of UAV and related technologies,specialized UAVs equipped with various sensors are widely applied in various fields.Under the scenario of large scale facility inspection by UAV,the time spent on selecting different inspection routes is far away.Therefore,how to plan the drone path is a key issue in this scenario.Efficient UAV path planning algorithm will greatly improve the efficiency of inspection and reduce the cost of inspection.However,limited by the battery capacity,the current UAV's battery life is very limited and it is difficult to directly perform the long-distance inspection task.This paper introduces the loading vehicle as a mobile replenishment base for UAVs,and uses vehicle UAV cooperative patrol inspection scheme to overcome the service distance limitation of UAVs.To the best of our knowledge,relevant research has only focused on the UAV path planning and neglected the loading vehicle path planning.In fact,under the coordinated inspection scene of a loading vehicle and a drone,the route selection of the loading vehicle will greatly affect the final inspection efficiency.In addition,only the collaborative inspection of vehicle and single UAV was discussed.Under the scenario of single UAV,it is impossible to inspect multiple targets at the same time,and the efficiency is very low.Aiming at the defects of existing work,this paper designs a novel vehicle,multi-UAV path planning and scheduling algorithm.The main contributions and innovations are as follows:(1)This paper analyzes the drawbacks of ignoring the vehicle route and designs a vehicle route selection algorithm based on the distribution of target nodes for the first time.This algorithm can obtain a route covering all the nodes to be inspected and crossing the dense area of the target node.(2)The advantage of off-site take-off and landing mode relative to the local take-off and landing mode is demonstrated when using UAV to patrol.A target node classification algorithm which can fully display the characteristics of off-site take-off and landing mode is designed.(3)The path planning and UAV dynamic scheduling algorithm based on single vehicle and multiple UAVs is studied for the first time.This algorithm can balance the tasks of various UAVs,maximize the time consuming of overlapping inspection tasks and reduce the total completion time of the inspection task.It is very flexible and efficient.(4)Simulation experiments show that our algorithm has obvious advantages over the existing single vehicle single UAV cooperative patrol algorithm.