Research On Collaborative Path Planning Of UAV And Vehicle In Disasters

In recent years,natural disasters have occurred frequently,causing great harm to human society.After the occurrence of natural disasters,the most important task is rescue and relief,but due to the hindrance of post-disaster information transmission,the distribution of relevant road damage,damage degree and other information cannot be timely obtained,which brings great difficulties to rescue and relief missions.Therefore,after the disaster,how to timely obtain the road network information in the affected area and based on this information to plan a safe and fast vehicle rescue and relief channel is extremely important.This paper first analyzes the feasibility of obtaining road information of UAVs in disaster situations,and then proposes to cooperate with UAVs and vehicles to obtain road network information in disaster areas in time by studying the optimal traveling path of UAVs.Based on this information,the optimal traveling path of rescue and disaster relief vehicles is studied.In this paper,the collaborative path of UAV and vehicle under disaster conditions is taken as the research object.The main research contents are as follows:(1)The research status of UAV image Mosaic technology and obstacle recognition technology is analyzed,and image Mosaic was realized by using Photo Scan software.And provide the corresponding basis for the follow-up research in this paper.(2)With the help of manual image segmentation technology,the photo map is manipulated by color division and clustering,so as to realize the road extraction on the photo map,and provide road network data for the follow-up vehicle path planning research.(3)Two synergistic mechanisms of UAVs and vehicles are proposed,and the specific synergistic modes of UAVs and vehicles under various mechanisms are analyzed.(4)The traveling paths of UAVs under two synergistic mechanisms are analyzed.Under the global cooperation of UAV and vehicle,the itinerant path planning of single or multiple fixed-wing UAV in the global region is realized mainly by combining the cow-ploughing algorithm and Dubins algorithm.Under the local cooperation of UAV and vehicle,the itinerant path planning of rotary-wing UAV in local area with and without obstacles was realized mainly by combining the outer helix algorithm and A* algorithm.At the same time,aiming at a special case of local cooperation,the optimal flight path planning of the rotary-wing UAV is realized by using ant colony algorithm under the Voronoi model generated by obstacles.(5)The optimal driving path of vehicles based on UAV inspection information is analyzed,and the relevant constraint model of rescue and relief vehicles under disaster conditions is established.The proposed improved ant colony algorithm based on graph theory is used to verify the feasibility of the proposed model.