期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：5
页码：235
DOI：10.5772/56286
语种：English
出版社：SAGE Publications
摘要：Abstract In this paper, we work to develop a path planning solution for a group of Unmanned Aerial Vehicles (UAVs) using a Mixed Integer Linear Programming (MILP) approach. Co-operation among team members not only helps reduce mission time, it makes the execution more robust in dynamic environments. However, the problem becomes more challenging as it requires optimal resource allocation and is NP-hard. Since UAVs may be lost or may suffer significant damage during the course of the mission, plans may need to be modified in real-time as the mission proceeds. Therefore, multiple UAVs have a better chance of completing a mission in the face of failures. Such military operations can be treated as a variant of the Multiple Depot Vehicle Routing Problem (MDVRP). The proposed solution must be such that m UAVs start from multiple source locations to visit n targets and return to a set of destination locations such that (1) each target is visited exactly by one of the chosen UAVs (2) the total distance travelled by the group is minimized and (3) the number of targets that each UAV visits may not be less than K or greater than L.
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