关键词: 灾后救援, 无人驾驶飞机, 路径规划

Abstract: To address the difficulties in obtaining information about environment and road network in the rescue area in flood disaster, unmanned aerial vehicles (UAVs) are applied to the post-disaster survey work, and a research framework for the path planning system of air-ground joint is proposed for the whole rescue process, involving three stages: UAVs searching, image processing, and disaster rescue. The path planning problem of UAVs is abstracted into a complete coverage path planning model, and the region segmentation-path planning algorithm considering energy consumption is used to solve the problem. Then, through the image processing module, the information of road network and personnel location in the disaster area is extracted. The rescue path problem in disaster area is set up as a capacitated vehicle route planning model and solved by particle swarm optimization. The example shows that the planning algorithm of UAVs can reduce the energy consumption by 14.9%, and the average utilization rate of rescue tools obtained by the path planning algorithm reaches 92.5%. Finally, the effects of different capacities of rescue tools on rescue time and cost are quantitatively analyzed, and suggestions on the use of rescue tools are given in different rescue scenarios.

Key words: post-disaster relief, unmanned aerial vehicles (UAVs), path planning