Research On Online Path Planning Algorithm For Unmanned Equipment With Energy Constraints

With the development of unmanned devices such as UGV(Unmanned Ground Vehicles)and UAV(Unmanned Aerial Vehicle)and the evolution of artificial intelligence,unmanned devices are playing an increasingly important role in areas such as logistics and transportation.However,unmanned devices also face short-range mileage.This also brings a test to the continuous execution of tasks by unmanned devices.At the same time,most unmanned devices have path planning requirements when performing tasks.How to complete the path planning task with certain goals under the condition of energy constraints is a difficult problem and challenge at this stage.Therefore,in this paper,we study how unmanned devices can continuously plan paths in a given scenario with ordered targets and meet the optimal objective function.Under the premise of referring to existing research materials,by using the mothed of constructing a scene model of energy-constrained online planning of unmanned equipment,an online algorithm with sliding window is designed to solve the model,and the existing algorithm is compared with the algorithm proposed in this paper by reproducing the existing algorithm,The problem has been studied.In this paper,a mathematical model is first established for a scenario where an unmanned device with energy constraints performs an orderly cruise mission of target nodes online in a scenario where recharging stations exist.Secondly,by deriving the relationship between the recharging station and the maximum distance that the unmanned device can move when full energy is available,it proves that the necessary conditions for the recharging station in the scene to be solvable in order to make the proposed problem solvable,then,sufficient conditions for making such problems solvable in special regions are further derived.Thirdly,this article defines the objective function of the energy consumption,time overhead and joint optimization of unmanned device,and reduces the objective function to only functions related to distance and nodes in the scene.After that,this paper proposes a sliding window algorithm FWOA(Forwad-looking Window Online Algorithm)that can continuously perform path planning tasks for unmanned devices.This algorithm can solve the problem proposed in this paper by calculating the optimal path within the sub-windows and comparing the optimal path to update the energy constraints.Finally,this paper conducted simulations in the application scenarios of unmanned aerial vehicles and unmanned vehicles.Among them,unmanned vehicles considered the impact of traffic conditions.In the simulation,the FWOA algorithm is compared and analyzed with the existing algorithms in terms of energy loss and time overhead.The research indicates that the FWOA algorithm proposed in this paper not only has the advantages of path optimization,but also has low computational complexity and has a wider scope of application.