{"title":"多目标路径规划,实现多无人机连接和区域覆盖","authors":"İslam Güven, Evşen Yanmaz","doi":"10.1016/j.adhoc.2024.103520","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, we assume that a team of drones equipped with sensing and networking capabilities explore an unknown area via onboard sensors for surveillance, monitoring, target search or data collection purposes and deliver the sensed data to a ground control station (GCS) over multi-hop links. We propose a multi-drone path planner that jointly optimizes area coverage time and connectivity among the drones. We propose a novel connectivity metric that includes not only percentage connectivity of the drones to GCS, but also the maximum duration of consecutive time that the drones are disconnected from the GCS. To solve this optimization formulation, we propose a multi-objective evolutionary algorithm with novel operations. We use our solver to test single, two and many objective path planning problems and compare our Pareto-optimal solutions to benchmark weighted-sum based solutions. We show that as opposed to the single solution that weighted-sum methods provide based on prior information from the user, the proposed evolutionary multi-objective optimizers can provide a diverse set of solutions that cover a range of mission time and connectivity performance illustrating the trade-off between these conflicting objectives. The end-user can then choose the best path solution based on the mission priorities during operation.</p></div>","PeriodicalId":55555,"journal":{"name":"Ad Hoc Networks","volume":null,"pages":null},"PeriodicalIF":4.4000,"publicationDate":"2024-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Multi-objective path planning for multi-UAV connectivity and area coverage\",\"authors\":\"İslam Güven, Evşen Yanmaz\",\"doi\":\"10.1016/j.adhoc.2024.103520\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this paper, we assume that a team of drones equipped with sensing and networking capabilities explore an unknown area via onboard sensors for surveillance, monitoring, target search or data collection purposes and deliver the sensed data to a ground control station (GCS) over multi-hop links. We propose a multi-drone path planner that jointly optimizes area coverage time and connectivity among the drones. We propose a novel connectivity metric that includes not only percentage connectivity of the drones to GCS, but also the maximum duration of consecutive time that the drones are disconnected from the GCS. To solve this optimization formulation, we propose a multi-objective evolutionary algorithm with novel operations. We use our solver to test single, two and many objective path planning problems and compare our Pareto-optimal solutions to benchmark weighted-sum based solutions. We show that as opposed to the single solution that weighted-sum methods provide based on prior information from the user, the proposed evolutionary multi-objective optimizers can provide a diverse set of solutions that cover a range of mission time and connectivity performance illustrating the trade-off between these conflicting objectives. The end-user can then choose the best path solution based on the mission priorities during operation.</p></div>\",\"PeriodicalId\":55555,\"journal\":{\"name\":\"Ad Hoc Networks\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.4000,\"publicationDate\":\"2024-04-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Ad Hoc Networks\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1570870524001318\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"COMPUTER SCIENCE, INFORMATION SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Ad Hoc Networks","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1570870524001318","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
Multi-objective path planning for multi-UAV connectivity and area coverage
In this paper, we assume that a team of drones equipped with sensing and networking capabilities explore an unknown area via onboard sensors for surveillance, monitoring, target search or data collection purposes and deliver the sensed data to a ground control station (GCS) over multi-hop links. We propose a multi-drone path planner that jointly optimizes area coverage time and connectivity among the drones. We propose a novel connectivity metric that includes not only percentage connectivity of the drones to GCS, but also the maximum duration of consecutive time that the drones are disconnected from the GCS. To solve this optimization formulation, we propose a multi-objective evolutionary algorithm with novel operations. We use our solver to test single, two and many objective path planning problems and compare our Pareto-optimal solutions to benchmark weighted-sum based solutions. We show that as opposed to the single solution that weighted-sum methods provide based on prior information from the user, the proposed evolutionary multi-objective optimizers can provide a diverse set of solutions that cover a range of mission time and connectivity performance illustrating the trade-off between these conflicting objectives. The end-user can then choose the best path solution based on the mission priorities during operation.
期刊介绍:
The Ad Hoc Networks is an international and archival journal providing a publication vehicle for complete coverage of all topics of interest to those involved in ad hoc and sensor networking areas. The Ad Hoc Networks considers original, high quality and unpublished contributions addressing all aspects of ad hoc and sensor networks. Specific areas of interest include, but are not limited to:
Mobile and Wireless Ad Hoc Networks
Sensor Networks
Wireless Local and Personal Area Networks
Home Networks
Ad Hoc Networks of Autonomous Intelligent Systems
Novel Architectures for Ad Hoc and Sensor Networks
Self-organizing Network Architectures and Protocols
Transport Layer Protocols
Routing protocols (unicast, multicast, geocast, etc.)
Media Access Control Techniques
Error Control Schemes
Power-Aware, Low-Power and Energy-Efficient Designs
Synchronization and Scheduling Issues
Mobility Management
Mobility-Tolerant Communication Protocols
Location Tracking and Location-based Services
Resource and Information Management
Security and Fault-Tolerance Issues
Hardware and Software Platforms, Systems, and Testbeds
Experimental and Prototype Results
Quality-of-Service Issues
Cross-Layer Interactions
Scalability Issues
Performance Analysis and Simulation of Protocols.