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首页> 外文会议>International Conference on Electrical, Control and Automation Engineering >A Precision Spraying Mission Assignment and Path Planning Performed by Multi-Quadcopters
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A Precision Spraying Mission Assignment and Path Planning Performed by Multi-Quadcopters

机译：多Quadcopters执行的精确喷涂任务分配和路径规划

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摘要

This paper proposes a hierarchal approach to solving a spraying mission assignment and path planning problem by using multi-quadcopters in an upland area. A mathematical model of the mission assignment and path-planning problem has been established. An inner-and-outer loop structure is employed in the hierarchal approach, in which the inner loop utilizes a genetic algorithm-based Travelling Salesman Problem (TSP) method while the outer loop uses a nonlinear programming method based on the optimal results given by the inner loop. In the end, simulation comparisons to a multi-TSP-based conventional approach have been carried out to illustrate the performance of the proposed approach.
机译：本文提出了一种通过在高地区域中使用多Quadcopters来解决喷射特派团分配和路径规划问题的层次方法。已经建立了任务分配和路径规划问题的数学模型。内外环路结构采用层次的方法，其中内环利用基于遗传算法的行长推销员问题（TSP）方法，而外环使用基于由所提供的最佳结果的非线性编程方法内循环。最后，已经执行了对基于多TSP的传统方法的模拟比较以说明所提出的方法的性能。

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