论文标题
绕过还是飞越障碍？一个新颖的多目标无人机路径计划问题
Bypassing or flying above the obstacles? A novel multi-objective UAV path planning problem
论文作者
论文摘要
这项研究提出了一种新型的多目标整数编程模型，用于无冲突无人机路径计划问题。考虑到绕过障碍或飞越障碍的可能性，本研究旨在同时减少路径长度，能耗和最大路径风险。静态环境表示为3D网格单元。由于问题的NP硬度性质，使用定制的交叉和突变操作员的几种最先进的进化多目标优化（EMO）算法来找到一组非主导的解决方案。结果表明，应用算法在求解几个生成的测试用例方面的有效性。
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path length, energy consumption, and maximum path risk simultaneously. The static environment is represented as 3D grid cells. Due to the NP-hardness nature of the problem, several state-of-theart evolutionary multi-objective optimization (EMO) algorithms with customized crossover and mutation operators are applied to find a set of non-dominated solutions. The results show the effectiveness of applied algorithms in solving several generated test cases.
