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Ship-drone Collaboration Routing for Island and Reef Cruise
- Acta Armamentarii Vol. 46, Issue 5, Pages: 240505(2025)
- 作者机构：
1. 武警工程大学 装备管理与保障学院, 陕西 西安 710086
2. 大连海事大学 航运经济与管理学院, 辽宁 大连 116026
3. 武警研究院, 北京 100020
4. 中国海警局, 北京 100089
- 作者简介：
- 基金信息：
DOI：10.12382/bgxb.2024.0505
CLC：Received：26 June 2024，
Published Online：07 May 2025，
Published：31 May 2025
- 稿件说明：
移动端阅览
Chuang ZHANG, Chaoqiang WEI, Yantong LI, et al. Ship-drone Collaboration Routing for Island and Reef Cruise[J]. Acta Armamentarii, 2025, 46(5): 240505.
Chuang ZHANG, Chaoqiang WEI, Yantong LI, et al. Ship-drone Collaboration Routing for Island and Reef Cruise[J]. Acta Armamentarii, 2025, 46(5): 240505. DOI： 10.12382/bgxb.2024.0505.
摘要
为进一步提升海上巡航效率
对基于舰船和无人机动态协同的岛礁巡航路径规划问题进行研究。该问题具有舰机动态协同、时空精确耦合、离散与连续变量同时优化等复杂特点。构建一种混合整数2阶锥规划模型以最小化巡航任务完成时间
实现对舰船航行路径、无人机飞行路径及无人机起降位置等的组合优化。应用自适应大邻域搜索(Adaptive Large Neighborhood Search
ALNS)算法
设计3种破坏算子、2种修复算子及其自适应机制进行求解。基于某海域若干岛礁数据开展案例分析
证明舰机协同模式下巡航时间可减少45%以上。算例实验结果表明
ALNS算法可在90s内求解最多包含80个岛礁的算例
其求解能力和效率显著优于CPLEX求解器和两阶段启发式算法。新提出的基于舰机协同的岛礁巡航路径规划方法
为高效遂行海上维权执法任务提供了方法参考。
Abstract
The route planning issue for island and reef cruise based on the dynamic collaboration among ships and drones is investigated to enhance the efficiency of maritime cruise. The issue is characterized by the dynamic cooperation among ships and drones
the precise spatio-temporal coupling
and the simultaneous optimization of discrete and continuous variables. Accordingly
a mixed-integer second-order cone programming model to minimize the mission completion time is developed for a combined optimization of the ship navigation path
the drone flight trajectory
and the drone takeoff and landing positions. The adaptive large neighborhood search (ALNS) algorithm is applied to design three destruction operators
two repair operators
and their adaptive mechanisms. A case analysis is conducted based on data from several islands and reefs in a specific maritime area
demonstrating that the cruise time can be reduced by more than 45% under the ship-drone coordination mode. The computational results indicate that the ALNS algorithm can solve the instances with up to 80 islands and reefs within 90 seconds
significantly outperforming the CPLEX solver and the two-stage heuristic algorithm in terms of solution quality and efficiency. The proposed route planning method for island and reef cruise based on ship-drone collaboration provides a reference for efficiently conducting maritime rights protection and law enforcement missions.
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references
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