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| Content Provider | IET Digital Library |
|---|---|
| Author | Wang, Qin Chen, Hua Qiao, Lu Tian, Junwei Su, Yu |
| Abstract | Due to the development needs of the intelligent manufacturing industry, the use of drones is expanding indefinitely, and at the same time, extremely high requirements are imposed on the autonomous navigation of drones to reduce human intervention. This paper presents an UAV/ UGV scheduling problem in which the UAV needs to be recharged by the UGV in order to working in persistent tasks, and meanwhile, the UGV need to visits UGV working depots. Two different problem are presented: fixed charging sets problem (FCSP) and discrete charging sets problem (DCSP). In FCSP, charging sets are fixed, and a two-stage travelling salesman problem method is proposed to solve the problem. DCSP is a modification of FCSP while charging segments are discrete into serval segments, an graph transformation approach was proposed to transform DCSP into GTSP, so DCSP can be resolved by using GTSP solvers. Simulation results shows that both DCSP and FCSP can ensure UAV/UGV work in persistent tasks, and the graph transformation algorithm can efficiently transform DCSP into GTSP. |
| Starting Page | 1475 |
| Ending Page | 1483 |
| Page Count | 9 |
| ISSN | 1751956X |
| Volume Number | 14 |
| e-ISSN | 17519578 |
| Issue Number | Issue 11, Nov (2020) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-its/14/11 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-its.2019.0688 |
| Journal | IET Intelligent Transport Systems |
| Publisher Date | 2020-05-12 |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Aerospace Control Attitude Tracking Function Autonomous Aerial Vehicle Autonomous Navigation Charging Routes Charging Segments Charging Sets Problem Combinatorial Mathematics DCSP Drones Extremely High Requirements FCSP Generalised Travelling Salesman Problem Graph Theory Intelligent Manufacturing Industry Mobile Robots Optimisation Technique Path Planning Remotely Operated Vehicle Spatial Variables Control Telerobotics Travelling Salesman Problem Two-stage Travelling Salesman Problem Method |
| Content Type | Text |
| Resource Type | Article |
| Subject | Law Transportation Environmental Science Mechanical Engineering |
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