UAV ROUTING IN A STOCHASTIC, TIME-VARYING ENVIRONMENT
UAV ROUTING IN A STOCHASTIC, TIME-VARYING ENVIRONMENT
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随机、时变环境中的无人机路由
DOI：
10.3182/20050703-6-cz-1902.02010
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Emilio Frazzoli
中科院分区：
文献类型：
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作者：
J. Enright;Emilio Frazzoli
本文主要考虑以下问题。无人飞行器（UAV）被建模为沿有界曲率路径以单位速度移动的飞行器，它必须在平面的凸紧区域内访问随机生成的目标。目标根据时空泊松过程生成，在区域内均匀分布。期望将目标出现和访问目标之间的预期等待时间最小化。我们提出了无人机路由的算法，并比较了它们在轻负载和重负载限制下相对于渐近性能界的性能。给出了仿真结果并进行了讨论。
Abstract In this paper we consider the following problem. An Uninhabited Aerial Vehicle (UAV), modeled as a vehicle moving at unit speed along paths of bounded curvature, must visit stochastically-generated targets in a convex, compact region of the plane. Targets are generated according to a spatio-temporal Poisson process, uniformly in the region. It is desired to minimize the expected waiting time between the appearance of a target, and the time it is visited. We present algorithms for UAV routing, and compare their performance with respect to asymptotic performance bounds, in the light and heavy load limits. Simulation results are presented and discussed.