Prioritized multi-UAV collaborative scheduling optimization for disaster reconnaissance

doi:10.16265/j.cnki.issn1003-3033.2024.11.0732

Abstract

Abstract:

To improve the efficiency of disaster reconnaissance, a prioritized multi-UAV cooperative scheduling optimization model was proposed for the UAV reconnaissance scheduling problem in disaster emergency responses. An improved tabu search algorithm was proposed by using a mixed integer nonlinear programming model. Moreover, specific neighborhood operators and repair operators were used to enhance the algorithm's search capability and solution quality. Two cases were designed to validate the model and algorithm performance. The first case was based on the actual scenario of the Zhengzhou flood in 2021, and the second case simulated examples of different scales. The results indicated that the model and algorithm were effectively validated. The effects of flight speed, UAV quantity, model, and endurance on reconnaissance capabilities were investigated through sensitivity analyses. The reconnaissance efficiency can be significantly improved by increasing the number of UAV models and optimizing them. UAVs with strong reconnaissance capabilities should be given priority when resources are limited. However, flight speed is more critical when resources are sufficient.

Key words: disaster reconnaissance, unmanned aerial vehicle (UAV), scheduling optimization, tabu search algorithm, reconnaissance prioritization

CLC Number:

X915.5

GONG Ying, LIU Xiaocong, ZHOU Yufeng, YANG Wei. Prioritized multi-UAV collaborative scheduling optimization for disaster reconnaissance[J]. China Safety Science Journal, 2024, 34(11): 202-212.

Figures/Tables 15

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Table 1

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Table 4

Optimal calculation results

UAV数量/架	最优目标值/h	时间/ s	路径
5	0.632 0	29.65	$f 1$ : [4,23,19,20,3,22,21,17,2] $f 2$ : [1,8,9,10,1,6,7,1] $f 3$ : [1,12,16,27,25,24,4] $f 4$ : [4,18,14,15,11,13,2] $f 5$ : [5,28,26,30,29,5]

Table 4

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编号	坐标/km
1	(1.7,2.0)
2	(6.4,4.8)
3	(9.0,3.2)
4	(11.2,0.6)
5	(13.6,0.2)

编号	坐标/km	基础侦察时间/min		侦察优先级		被困人数		编号		坐标/km		基础侦察时间/min		侦察优先级	被困人数
6	(0.0,4.0)	2		1		6		19		(10.0,1.0)		0.5		3	7
7	(0.0,3.0)	0.5		1		11		20		(10.0,3.0)		1		2	12
8	(1.6,3.0)	2		2		7		21		(10.0,5.0)		0.5		1	5
9	(2.5,5.6)		0.5		1		12		22		(10.0,6.5)		0.5	1	7
10	(3.2,4.7)		0.5		1		11		23		(12.0,0.0)		2	3	4
11	(3.4,6.0)		2		2		11		24		(12.0,3.0)		2	1	6
12	(3.8,2.8)		0.5		3		6		25		(12.0,4.5)		2	1	5
13	(4.8,3.5)		0.5		1		4		26		(12.5,4.0)		0.5	3	6
14	(6.3,0.0)		1		2		4		27		(12.5,6.5)		2	2	14
15	(6.3,3.0)		2		2		11		28		(14.0,1.2)		0.5	3	4
16	(6.3,4.6)		0.5		2		5		29		(14.6,2.6)		0.5	1	3
17	(6.3,6.0)		2		1		6		30		(14.6,4.3)		1	2	11
18	(10.0,0.0)		0.5		2		11

类型	UAV 型号	调整因子	续航时间/ min	速度/ (km· h^-1)	更换电池时间/min	特点	数量
1	DJI phantom 4 RTK	0.8	30	50	1.0	高侦察能力	2
2	DJI AIR 3	1	45	75	2.0	高飞行能力	2
3	WK 1900 PRO	1.5	60	40	1.5	长续航能力	1

飞行速度变化值/(km·h^-1)	最优目标值/h	飞行速度变化值/(km·h^-1)	最优目标值/h
-10	0.709 4	+10	0.597 4
-5	0.683 0	+15	0.580 5
0	0.632 0	+20	0.562 4
+5	0.613 9

DJI phantom 4		DJI AIR 3		WK 1900 PRO
UAV 数量	最优目标值	UAV 数量	最优目标值	UAV 数量	最优目标值
2	1.343 1	2	1.508 2	2	2.616 4
3	0.872 7	3	0.980 1	3	1.734 9
4	0.669 5	4	0.768 7	4	1.269 5
5	0.614 8	5	0.561 4	5	1.054 0
6	0.468 6	6	0.475 1	6	0.867 2
7	0.407 6	7	0.416 2	7	0.722 0
8	0.364 6	8	0.375 4	8	0.648 6
9	0.336 6	9	0.339 0	9	0.579 4
10	0.311 7	10	0.309 4	10	0.535 9