作者: Yang Chen , Shiwen Ren , Zhihuan Chen , Mengqing Chen , Huaiyu Wu
DOI: 10.1017/S0263574719000808
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摘要: This paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists ground mobile robot two aerial flying robots. The robot, usually unmanned (UGV), as carrier, is able to deploy harvest robots, each vehicles (UAVs), takes off from lands on carrier. At same time, owing limited duration in air one flight, UAVs should return timely its energy-saving recharge. work motivated by cooperative search reconnaissance missions field heterogeneous system. Especially, some targets with given positions are assumed be visited any UAVs. For problem, this establishes mathematical model solve UGV. Many real constraints including maximum speed UGV, minimum charging time UAVs, hovering dynamic among UGV considered. objective function constructed minimizing completing whole mission. Finally, transformed into multi-constrained optimization then particle swarm algorithm used obtain results. Simulations comparisons verify feasibility effectiveness proposed method.