The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a nove...The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.展开更多
With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the ve...With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the vehicle and its onboard UAVs are utilized efficiently. Vehicles not only provide delivery services to customers but also function as mobile ware-houses and launch/recovery platforms for UAVs. This paper addresses the vehicle routing problem with UAVs considering time window and UAV multi-delivery (VRPU-TW&MD). A mixed integer linear programming (MILP) model is developed to mini-mize delivery costs while incorporating constraints related to UAV energy consumption. Subsequently, a micro-evolution aug-mented large neighborhood search (MEALNS) algorithm incor-porating adaptive large neighborhood search (ALNS) and micro-evolution mechanism is proposed. Numerical experiments demonstrate the effectiveness of both the model and algorithm in solving the VRPU-TW&MD. The impact of key parameters on delivery performance is explored by sensitivity analysis.展开更多
According to the characteristic of cruise missiles,navigation point setting is simplified,and the principle of route planning for saturation attack and a concept of reference route are put forward.With the help of the...According to the characteristic of cruise missiles,navigation point setting is simplified,and the principle of route planning for saturation attack and a concept of reference route are put forward.With the help of the shortest-tangent idea in route-planning and the algorithm of back reasoning from targets,a reference route algorithm is built on the shortest range and threat avoidance.Then a route-flight-time algorithm is built on navigation points.Based on the conditions of multi-direction saturation attack,a route planning algorithm of multi-direction saturation attack is built on reference route,route-flight-time,and impact azimuth.Simulation results show that the algorithm can realize missiles fired in a salvo launch reaching the target simultaneously from different directions while avoiding threat.展开更多
Unmanned aerial vehicle(UAV)was introduced as a novel traffic device to collect road traffic information and its cruise route planning problem was considered.Firstly,a multi-objective optimization model was proposed a...Unmanned aerial vehicle(UAV)was introduced as a novel traffic device to collect road traffic information and its cruise route planning problem was considered.Firstly,a multi-objective optimization model was proposed aiming at minimizing the total cruise distance and the number of UAVs used,which used UAV maximum cruise distance,the number of UAVs available and time window of each monitored target as constraints.Then,a novel multi-objective evolutionary algorithm was proposed.Next,a case study with three time window scenarios was implemented.The results show that both the total cruise distance and the number of UAVs used continue to increase with the time window constraint becoming narrower.Compared with the initial optimal solutions,the optimal total cruise distance and the number of UAVs used fall by an average of 30.93% and 31.74%,respectively.Finally,some concerns using UAV to collect road traffic information were discussed.展开更多
To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.Fir...To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.展开更多
Unmanned combat air vehicles(UCAVs) mission planning is a fairly complicated global optimum problem. Military attack missions often employ a fleet of UCAVs equipped with weapons to attack a set of known targets. A UCA...Unmanned combat air vehicles(UCAVs) mission planning is a fairly complicated global optimum problem. Military attack missions often employ a fleet of UCAVs equipped with weapons to attack a set of known targets. A UCAV can carry different weapons to accomplish different combat missions. Choice of different weapons will have different effects on the final combat effectiveness. This work presents a mixed integer programming model for simultaneous weapon configuration and route planning of UCAVs, which solves the problem optimally using the IBM ILOG CPLEX optimizer for simple missions. This paper develops a heuristic algorithm to handle the medium-scale and large-scale problems. The experiments demonstrate the performance of the heuristic algorithm in solving the medium scale and large scale problems. Moreover, we give suggestions on how to select the most appropriate algorithm to solve different scale problems.展开更多
Unmanned aerial vehicle(UAV)was introduced to take road segment traffic surveillance.Considering the limited UAV maximum flight distance,UAV route planning problem was studied.First,a multi-objective optimization mode...Unmanned aerial vehicle(UAV)was introduced to take road segment traffic surveillance.Considering the limited UAV maximum flight distance,UAV route planning problem was studied.First,a multi-objective optimization model of planning UAV route for road segment surveillance was proposed,which aimed to minimize UAV cruise distance and minimize the number of UAVs used.Then,an evolutionary algorithm based on Pareto optimality technique was proposed to solve multi-objective UAV route planning problem.At last,a UAV flight experiment was conducted to test UAV route planning effect,and a case with three scenarios was studied to analyze the impact of different road segment lengths on UAV route planning.The case results show that the optimized cruise distance and the number of UAVs used decrease by an average of 38.43% and 33.33%,respectively.Additionally,shortening or extending the length of road segments has different impacts on UAV route planning.展开更多
Electronic reconnaissance units commonly utilize an interferometer direction-finding system to measure the incoming direction of radar radiation signals.This approach enables the accurate determination of threat sourc...Electronic reconnaissance units commonly utilize an interferometer direction-finding system to measure the incoming direction of radar radiation signals.This approach enables the accurate determination of threat source locations,which is essential for devising route plans oriented toward flight path generation.When a frequency diverse array(FDA)system is adopted by ground radars,errors are introduced into the angle measurements of the passive direction finding system.To address this issue,this study starts with FDA model establishment and equiphasic surface characteristics analysis and analyzes the principles of FDA deception in identifying one-dimensional single-baseline interferometer directions.Additionally,the Cramer-Rao bounds of the signal carrier frequency estimation error and angle measurement error during the interferometer’s direction finding process are considered.The simulation results verify that the one-dimensional single-baseline interferometer direction finding system can be deceived by the FDA radar,and the FDA with a sine frequency offset exhibits the optimum deception effect.展开更多
With the development of operationally responsive space（ORS） and on-board processing techniques, the end users canreceive the observation data from the ORS satellite directly. Tosatisfy the demand for reducing the re...With the development of operationally responsive space（ORS） and on-board processing techniques, the end users canreceive the observation data from the ORS satellite directly. Tosatisfy the demand for reducing the requirements-tasking-effectscycle from one day to hours, the various resources of the wholedata acquisition chain （including satellites, ground stations, dataprocessing centers, users, etc.） should be taken into an overallconsideration, and the traditional batch task planning mode shouldbe transformed into the user-oriented task planning mode. Consideringthere are many approaches for data acquisition due tothe new techniques of ORS satellite, the data acquisition chaintask planning problem for ORS satellite can be seen as the multimodalroute planning problem. Thereby, a framework is presentedusing label-constrained shortest path technique with the conflictresolution. To apply this framework to solve the ORS satellite taskplanning problem, the preprocessing and the conflict resolutionstrategies are discussed in detail. Based on the above work, theuser-oriented data acquisition chain task planning algorithm forORS satellite is proposed. The exact solution can be obtainedin polynomial time using the proposed algorithm. The simulationexperiments validate the feasibility and the adaptability of the proposedapproach.展开更多
A novel evolutionary route planner for aircraft is proposed in this paper. In the new planner, individual candidates are evaluated with respect to the workspace, thus the computation of the configuration space is not ...A novel evolutionary route planner for aircraft is proposed in this paper. In the new planner, individual candidates are evaluated with respect to the workspace, thus the computation of the configuration space is not required. By using problem-specific chromosome structure and genetic operators, the routes are generated in real time, with different mission constraints such as minimum route leg length and flying altitude, maximum turning angle, maximum climbing/diving angle and route distance constraint taken into account.展开更多
基金Fundamental Research Funds for the Central Universities(2024JBZX038)National Natural Science F oundation of China(62076023)。
文摘The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.
基金supported by the Fundamental Research Funds for the Central Universities(2024JBZX038)the National Natural Science Foundation of China(62076023).
文摘With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the vehicle and its onboard UAVs are utilized efficiently. Vehicles not only provide delivery services to customers but also function as mobile ware-houses and launch/recovery platforms for UAVs. This paper addresses the vehicle routing problem with UAVs considering time window and UAV multi-delivery (VRPU-TW&MD). A mixed integer linear programming (MILP) model is developed to mini-mize delivery costs while incorporating constraints related to UAV energy consumption. Subsequently, a micro-evolution aug-mented large neighborhood search (MEALNS) algorithm incor-porating adaptive large neighborhood search (ALNS) and micro-evolution mechanism is proposed. Numerical experiments demonstrate the effectiveness of both the model and algorithm in solving the VRPU-TW&MD. The impact of key parameters on delivery performance is explored by sensitivity analysis.
基金supported by the Aeronautical Science Foundation of China (20085584010)
文摘According to the characteristic of cruise missiles,navigation point setting is simplified,and the principle of route planning for saturation attack and a concept of reference route are put forward.With the help of the shortest-tangent idea in route-planning and the algorithm of back reasoning from targets,a reference route algorithm is built on the shortest range and threat avoidance.Then a route-flight-time algorithm is built on navigation points.Based on the conditions of multi-direction saturation attack,a route planning algorithm of multi-direction saturation attack is built on reference route,route-flight-time,and impact azimuth.Simulation results show that the algorithm can realize missiles fired in a salvo launch reaching the target simultaneously from different directions while avoiding threat.
基金Project(2009AA11Z220)supported by the National High Technology Research and Development Program of China
文摘Unmanned aerial vehicle(UAV)was introduced as a novel traffic device to collect road traffic information and its cruise route planning problem was considered.Firstly,a multi-objective optimization model was proposed aiming at minimizing the total cruise distance and the number of UAVs used,which used UAV maximum cruise distance,the number of UAVs available and time window of each monitored target as constraints.Then,a novel multi-objective evolutionary algorithm was proposed.Next,a case study with three time window scenarios was implemented.The results show that both the total cruise distance and the number of UAVs used continue to increase with the time window constraint becoming narrower.Compared with the initial optimal solutions,the optimal total cruise distance and the number of UAVs used fall by an average of 30.93% and 31.74%,respectively.Finally,some concerns using UAV to collect road traffic information were discussed.
基金Project(60925011) supported by the National Natural Science Foundation for Distinguished Young Scholars of ChinaProject(9140A06040510BQXXXX) supported by Advanced Research Foundation of General Armament Department,China
文摘To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.
基金supported by the National Natural Science Foundation of China(7147117571471174)
文摘Unmanned combat air vehicles(UCAVs) mission planning is a fairly complicated global optimum problem. Military attack missions often employ a fleet of UCAVs equipped with weapons to attack a set of known targets. A UCAV can carry different weapons to accomplish different combat missions. Choice of different weapons will have different effects on the final combat effectiveness. This work presents a mixed integer programming model for simultaneous weapon configuration and route planning of UCAVs, which solves the problem optimally using the IBM ILOG CPLEX optimizer for simple missions. This paper develops a heuristic algorithm to handle the medium-scale and large-scale problems. The experiments demonstrate the performance of the heuristic algorithm in solving the medium scale and large scale problems. Moreover, we give suggestions on how to select the most appropriate algorithm to solve different scale problems.
基金Project(2009AA11Z220)supported by National High Technology Research and Development Program of ChinaProjects(61070112,61070116)supported by the National Natural Science Foundation of China+1 种基金Project(2012LLYJTJSJ077)supported by the Ministry of Public Security of ChinaProject(KYQD14003)supported by Tianjin University of Technology and Education,China
文摘Unmanned aerial vehicle(UAV)was introduced to take road segment traffic surveillance.Considering the limited UAV maximum flight distance,UAV route planning problem was studied.First,a multi-objective optimization model of planning UAV route for road segment surveillance was proposed,which aimed to minimize UAV cruise distance and minimize the number of UAVs used.Then,an evolutionary algorithm based on Pareto optimality technique was proposed to solve multi-objective UAV route planning problem.At last,a UAV flight experiment was conducted to test UAV route planning effect,and a case with three scenarios was studied to analyze the impact of different road segment lengths on UAV route planning.The case results show that the optimized cruise distance and the number of UAVs used decrease by an average of 38.43% and 33.33%,respectively.Additionally,shortening or extending the length of road segments has different impacts on UAV route planning.
基金supported by the National Natural Science Foundation of China Youth Fund Support Project(61503408)Shaanxi Provincial Association for Science and Technology Youth Talent Support Program Project(20230137)Shaanxi Provincial Natural Science Basic Research Program General Project(2023JCYB509).
文摘Electronic reconnaissance units commonly utilize an interferometer direction-finding system to measure the incoming direction of radar radiation signals.This approach enables the accurate determination of threat source locations,which is essential for devising route plans oriented toward flight path generation.When a frequency diverse array(FDA)system is adopted by ground radars,errors are introduced into the angle measurements of the passive direction finding system.To address this issue,this study starts with FDA model establishment and equiphasic surface characteristics analysis and analyzes the principles of FDA deception in identifying one-dimensional single-baseline interferometer directions.Additionally,the Cramer-Rao bounds of the signal carrier frequency estimation error and angle measurement error during the interferometer’s direction finding process are considered.The simulation results verify that the one-dimensional single-baseline interferometer direction finding system can be deceived by the FDA radar,and the FDA with a sine frequency offset exhibits the optimum deception effect.
基金supported by the National Natural Science Foundation of China(6110118461174159)
文摘With the development of operationally responsive space（ORS） and on-board processing techniques, the end users canreceive the observation data from the ORS satellite directly. Tosatisfy the demand for reducing the requirements-tasking-effectscycle from one day to hours, the various resources of the wholedata acquisition chain （including satellites, ground stations, dataprocessing centers, users, etc.） should be taken into an overallconsideration, and the traditional batch task planning mode shouldbe transformed into the user-oriented task planning mode. Consideringthere are many approaches for data acquisition due tothe new techniques of ORS satellite, the data acquisition chaintask planning problem for ORS satellite can be seen as the multimodalroute planning problem. Thereby, a framework is presentedusing label-constrained shortest path technique with the conflictresolution. To apply this framework to solve the ORS satellite taskplanning problem, the preprocessing and the conflict resolutionstrategies are discussed in detail. Based on the above work, theuser-oriented data acquisition chain task planning algorithm forORS satellite is proposed. The exact solution can be obtainedin polynomial time using the proposed algorithm. The simulationexperiments validate the feasibility and the adaptability of the proposedapproach.
文摘A novel evolutionary route planner for aircraft is proposed in this paper. In the new planner, individual candidates are evaluated with respect to the workspace, thus the computation of the configuration space is not required. By using problem-specific chromosome structure and genetic operators, the routes are generated in real time, with different mission constraints such as minimum route leg length and flying altitude, maximum turning angle, maximum climbing/diving angle and route distance constraint taken into account.
