| The air-ground heterogeneous robot system is composed of Unmanned Aerial Vehicle(UAV)and Unmanned Ground Vehicle(UGV),and the continuous monitoring task can be completed through the cooperation of the two,which can improve work efficiency and solve the problem of insufficient endurance of UAV.In this heterogeneous robot system,the ground vehicle can refuel the UAV to ensure the continuity of the monitoring mission.Since the periodic monitoring path is prone to the leakage of monitoring regularity information,it is of great significance to improve the randomness of the UAV monitoring path.In order to solve the above problems,this paper studies the path planning problem of multiple UAV&UGV collaborative monitoring system from the perspective of taking into account task persistence and path randomness.Firstly,this paper fully considers the constraints of UAV energy,ground road network,target point waiting time,air-ground convergence time and other constraints,introduces the concept of Gini impurity,comprehensively constructs the optimization index of the path from the two aspects of node monitoring frequency and the randomness of the monitoring path,and establishes the air-ground cooperative continuous monitoring path planning model of single UAV&UGV and multiple UAV&UGV,respectively.Then,based on the established air-ground cooperative monitoring path planning model,the ant colony algorithm is used to solve the UAV monitoring path and ground vehicle energy replenishment path with the shortest average access interval and the best path safety of the target point.By comparing with other algorithms,it is shown that the ant colony algorithm has faster search speed and operation efficiency.Finally,the path planning experiment of single UAV&UGV collaborative monitoring system in indoor environment is carried out,and the feasibility and effectiveness of the proposed path planning method are further verified by comparing and analyzing the path results obtained by simulation and physical experiments.The proposed method provides a theoretical basis and practical reference for solving space-ground cooperation path planning problems in other fields. |
