对运动船舶的多无人机协同查证路径规划方法

为解决无人机(unmanned aerial vehicle, UAV)对运动船舶进行查证面临的最优路径生成问题，设计了一种面向运动目标的多无人机路径规划方法，通过模拟退火算法对查证路径进行优化，确定完成查证任务所需的最少无人机数量、查证序列和运动路径。结果表明：所设计的方法能够生成满足时间约束的多无人机协同运动船舶查证路径，可为海事监管领域开展无人机路径规划应用及优化资源配置提供技术支撑。

A Multi-UAV Collaborative Path Planning Method for Moving Ships

In order to solve the problem of optimal path generation for UAVs to verify moving ships, a multi-UAV path planning method for moving targets is designed in this paper. The verification path is optimized by simulated annealing algorithm to determine the minimum number of UAVs, ship verification sequence and movement path of UAVs required to complete the verification task. The results show that a path that satisfies the time constraint to make multi-UAV cooperative verify the moving ships can be generated by this method, which can provide technical support for UAV path planning and resource allocation optimization in the field of maritime supervision.