无人机飞行轨迹优化外文文献翻译中英文.docx

无人机飞行轨迹优化外文文献翻译中英文.docx

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外文文献翻译

原文及译文

（本文档归max118网hh2018所有，仅供下载使用）

中文标题：

无人机的飞行路线和轨迹优化问题研究

文献出处：

期刊：

Computers&IndustrialEngineering，第120卷，

2018,页码：

116-128

译文字数：

4200多字

原文

Theunmannedaerialvehicleroutingandtrajectoryoptimisationproblem,ataxonomicreview

WaltonCoutinho,MariaBattarra,JörgFliege

Abstract:

Overthepastfewyears,UnmannedAerialVehicles（UAVs）havebecomemoreandmorepopular.ThecomplexityofroutingUAVshasnotbeenfullyinvestigatedintheliterature.Inthispaper,weprovideaformaldefinitionoftheUAVRoutingandTrajectoryOptimisationProblem（UAVRTOP）.Next,weintroduceataxonomyandreviewrecentcontributionsinUAVtrajectoryoptimisation,UAVroutingandarticlesaddressingtheseproblems,andtheirvariants,simultaneously.Weconcludewiththeidentificationoffutureresearchopportunities.

Keywords:

Unmannedaerialvehicles,Routing,Trajectoryoptimization,Literaturereview,Taxonomy

Introduction

UnmannedAerialVehicles（UAVs）areaircraftthatdonotneedahumanpilotonboard.Ingeneral,thesevehiclesareeithercontrolledbyanembeddedcomputerorbyapilotoperatingaremotecontrol.Drones,remotecontrolledhelicoptersandunmannedglidersareexamplesofUAVs.Glidersdifferfromtheothertypesduetothelackofon-boardpropulsion（e.g.,anelectricorcombustionengine）.ModernUAVswerefirstdevelopedinthe1920stosupportmilitaryoperationsinwhichthe

presenceofhumanpilotswaseitherimpossibleortoodangerous（BeardandMcLain,2012,KeaneandCarr,2013）.However,UAVshaverecentlybecomeverypopularforlogisticsandsurveillanceapplications（Tsourdos,White,&Shanmugavel,2010）.

AreportfromtheNationalPurchaseDiaryhasshownthatsalesofdronesincreasedby224%intwelvemonthsfromApril2015,reachingatotalof200 milliondollars（NPD,2016）.Duetobeingabletoembedseveraltransmitters,sensorsandphotographicequipment,UAVscanbeusedinalargerangeofapplications.Successfulcaseshavebeenreportedin,forexample,aerialreconnaissance（Ruzgiené,Bertes̆ka,Gec̆yte,Jakubauskiené,&Aksamitauskas,2015）,aerialforestfiredetection（Yuan,Zhang,&Liu,2015）,targetobservation（Rysdyk,2006）,trafficmonitoringandmanagement（Kanistras,Martins,Rutherford,&Valavanis,2013）,onlinecommerce（Wang,Poikonen,&Golden,2017）,geographicalmonitoring（Uysal,Toprak,&Polat,2015）,scientificdatacollection（Stöcker,Eltner,&Karrasch,2015）,meteorologicalsampling（Elstonetal.,2014）anddisasterassessmentandresponse（Nedjatietal.,2016,Quaritschetal.,2010,Xuetal.,2014）.InHayat,Yanmaz,andMuzaffar（2016）,severalapplicationsofUAVnetworksarereviewed.TheuseofUAVsfor3DmappingissurveyedinNexandRemondino（2013）.AliteraturereviewabouttheapplicationsofUAVsinhumanitarianreliefisprovidedbyBravoandLeiras（2015）.More

examplesofthegrowingapplicationsofUAVsarepresentedinRao,Gopi,andMaione（2016）.

TheacademicroutingcommunityhasacknowledgedtheinterestofcompaniesandorganisationsinadoptingUAVsintheiroperations.ArecentexampleistheapproachofcombiningUAVsandtrucksfordistributionactivitiesbydispatchingdronesfromtrucksforthelastmiledistributionwithincitycentres（Haetal.,2015,MurrayandChu,2015,Wangetal.,2017）.Ithasbeenshownthatthissolutioncanreducetrucktraveltime,andthecorrespondingCO2emissions,byupto50%.TheUAVTaskAssignmentProblem（UAVTAP）,whichiscloselyrelatedtotheUAVroutingproblem,consistsofoptimisingtheassignmentofasetofUAVstoasetoftaskssubjecttomissionconstraints（Khamis,Hussein,&Elmogy,2015）.AgrowingbodyofliteratureappearedontheUAVTAPinthelastdecade,e.g.,Ramirez-Atenciaetal.,inpress,Wangetal.,2015,Huetal.,2015a,Thietal.,2012,Alidaee,Gao,andWang（2010）andEdisonandShima（2011）.However,theUAVroutingandtaskassignmentliteratureshaveoftenneglectedconstraintsduetotheflightdynamicsoftheUAVs.FindingfeasibletrajectoriesforUAVsinaroutingproblemisacomplextask,butitisnecessarytoensurethefeasibilityoftheUAVsroutes.Forsomereal-worldapplicationsinvolvingmorecomplexUAVsystems,suchasunmannedglidersandfixed-wingvehicles,thedefinitionofroutesmust

becoupledtothedesignofflyabletrajectories,otherwisetheassignedroutesmightbecomeinefficientoreveninfeasiblefortheseUAVs.

MostoftheUAVsusedforcivilapplicationspresentalowflightautonomy.Therefore,itisimportantforUAVroutingalgorithmstoproperlymodelbatterylife.AccordingtoFügenschuhandMüllenstedt（2015）,thiscanbeachievedbyintegratingtheUAVs’dynamicswithrouting.Asmentionedbytheauthors,forpoweredUAVs,apropermodellingoftheactualfuelconsumptionmustinclude,forinstance,thecurrentweight,thealtitude,thespeedandclimb/descentrate,whichareusuallymodelledbyflightdynamics.

Zhang,Chen,andShen（2012）consideraproblemwhereaUAVmustvisitasetoftargets.However,afterreachingapredetermineddistancefromatargettheUAVmustthenadjustitsflightattitude（i.e.,itsorientation）inordertoperformapayloaddelivery.Afterthedelivery,theUAVmustcompleteanescapemanoeuvreandprepareforthenextdelivery.AccordingtoZhangetal.（2012）,routingandtrajectoryoptimisationmustbeintegratedinordertoensurethesafetyofthevehicleandthefeasibilityoftrajectories.

ThecomputationoftrajectoriesforUAVshasbeenwidelystudiedintheaerospaceengineeringandoptimalcontrolliterature（Yangetal.,2016）.TheTrajectoryOptimisation（TO）problemconsistsoffindingacontrolhistoryofagivenvehicle,thatminimisesascalarperformance

index（forexample,flighttimeorfuelconsumption）whilesatisfyingconstraintsonthekinematics（position,velocityandacceleration）andthedynamics（forcesandmoments）ofthevehicle（Betts,1998）.AtrajectoryisgenerallyassociatedwithasetofEquationsofMotion（EOMs）thatdescribetherelationshipbetweenthespatialandthetemporalchangestothesystem.TheTOproblemiscloselyrelatedtotheOptimalControl（OC）problem（Betts,2001）.

TheproblemnamedPathPlanning（PP）consistsoffindingaflyablepathforaUAVvisitingagivensequenceofwaypoints（targets）inatwo-dimensional（2D）orthree-dimensional（3D）spacewithoutconsideringthevehicle’sdynamics.AccordingtoGasparetto,Boscariol,Lanzutti,andVidoni（2015）,PPisageometricproblem,becauseitisdefinedasfindingageometricpathregardlessanyspecifiedtimelaw.Inturn,TOconsistsofassigningatimelawtoacontrolledgeometricpath.

MorecomplexvariantsofthePPproblemincluding,forinstance,windandmotionconstraints,requiresubstantialsimplificationsandassumptionstobesolvedheuristically（Kunchevetal.,2006,RathinamandSengupta,2007）.ThebooksbyTsourdosetal.（2010）andBeardandMcLain（2012）providegoodoverviewsofPPalgorithmsforUAVs.Ontheotherhand,highfidelityTOmodels（i.e.,usingmoreaccuratephysicalmodels）havebeendevelopedforaircraftandspacecraft（Conway,2010,Colasurdoetal.,2014,Fisch,2011,García-Herasetal.,

2014,Raivioetal.,1996）.ThesemodelsarecurrentlysolvedbyOCtechniques.AnoverviewofOCmethodsforTOisprovidedinBetts,1998,Betts,2001.

ThefieldofTOhashowevernotconsideredroutingdecisions:

givenasetoforderedwaypoints,itispossibletofindafeasibletrajectoryforagenericUAV,butitisnotclearintheliteratureifthesequenceofwaypointsisappropriate.Forexample,foraglidingvehicle（i.e.,withnoonboardthrust）agivenwaypointsequencemightbeinfeasibleintermsofflightdynamics.GivenafleetofUAVs,itisanopenquestionhowtocombineroutingandtrajectorydecisionsinasingleoptimisationproblem.Asfarastheauthorsareaware,thereisnotasurveysummarisingtheliteratureaboutroutingandtrajectoryoptimisationforUAVs.

ResearchaboutintegratedroutingandTOproblemsseemstobestillfragmented.OneofthemaincontributionsofthispaperisintroducingtheUAVRoutingandTrajectoryOptimisationProblem（UAVRTOP）.WebelievethatintegratingTOandroutinginasingleoptimisationproblemisakeyresearchchallengeinadoptingUAVsforrealworldapplications.

ThepurposeofthissurveyistopresenttheUAVRTOP,highlightingapproachesalreadyproposedintheliteratureandprovidingadirectionforfurtherresearch.Weintroduceataxonomy,thatisabletoidentifythekeycomponentsofroutingandTOproblems,aswellashighlightassumptionsandsimplificationscommonlyadoptedintheliterature.

Thetrajectoryoptimisationproblem

TOPsareaspecialcaseofOCproblemsdeterminingthetrajectoryofasystem（e.g.,vehiclessuchasspacecraft,aircraft,UAVs）whileminimisingameasureofperformanceandsatisfyingasetofboundary（initialandfinal）conditions,pathconstraintsandsystemdynamics.

TheoriginofOCproblemsdatestoasearlyasthe17thcenturywhenJohannBernoulliproposedtheBrachistochroneproblem（Ross,2009）,oneofthefirstproblemsincalculusofvariations.OneofthefirstapplicationsofthecalculusofvariationstothecontrolofflyingvehicleswaspresentedbyRobertGoddardin“Amethodofreachingextremealtitudes”（Goddard,1919）,wheretheobjectivewastodeterminetheminimuminitialmassofaground-basedrocketnecessarytoachieveagivenaltitude.OCmethodsareaclassicaltoolinthecomputationofspacecrafttrajectories,e.g.,forinterplanetarytravelandsatellitetransferorbitsaroundEarth（Conway,2010,Colasurdoetal.,2014）.

Usually,systemdynamicsaremodelle