面向城市治安防控的多无人机协同巡逻路径规划方法

随着我国城市规模不断扩大，繁重的治安防控任务与短缺的警务资源是城市治安防控过程中的主要矛盾之一，提升城市治安防控效能对建立立体化、信息化的社会治安防控体系具有重要的意义，是国家的重大需求。当前无人机作为一种新型的治安防控平台已经在城市治安巡逻过程中得到了运用，研究多无人机协同巡逻路径规划问题对解决多架无人机协同化、智能化的巡逻具有积极的作用。对此，本项目拟在多无人机部署的基础上，针对典型巡逻模式开展研究工作。通过分析无人机工作模式、巡逻任务和路径规划方面的复杂性和不确定性等新特点，将新一代信息技术与管理理论方法相结合，从警务数据驱动的多无人机动态部署、点线面结合的多无人机协同区域覆盖路径规划、追逃情形下的多无人机协同搜索路径规划等三个方面系统开展研究工作，为城市治安防控过程中的无人机巡逻提供新的方法与途径，促进无人机巡逻的深入应用。

Nowadays, the scale of urban area expands gradually in China, and the contradiction between limited police resources and a large number of patrol tasks has become one of the important issues in urban public security. Enhancing the effectiveness of urban public security prevention has great significance for the government to establish of a stereoscopic and informationalized social security system, and it is also one of the major national needs. At present, unmanned aerial vehicle (UAV), which is a new type of patrol resources, has already been used for the security patrol in the urban area. The study of cooperative patrol route planning for multi-UAV has significant effect on solving the problem of multi-UAV cooperative and intelligent patrol. In this regard, this research work will focus on the typical patrol mode, deployment mode and operation mode. Meanwhile, the complexity and uncertainty of patrol process, patrol task and the path planning will also be discussed. The detailed research work includes: (1) dynamic deployment of multiple unmanned aerial vehicles driven by police data; (2) collaborative coverage path planning for multiple unmanned aerial vehicles under diverse tasks; (3) collaborative search path planning for multiple unmanned aerial vehicles for pursuit-evasion. This research work will provide some new ways for UAV patrol for urban public security prevention, and promote the application of UAV patrol.