基于舰机协同的岛礁巡航路径规划

张闯; 卫超强; 李延通; 喻妍; 刘锦超

doi:10.12382/bgxb.2024.0505

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基于舰机协同的岛礁巡航路径规划

更新时间：2025-09-05

- 基于舰机协同的岛礁巡航路径规划
- Ship-drone Collaboration Routing for Island and Reef Cruise
- 兵工学报 2025年46卷第5期页码：240505
- 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：
  
  * 邮箱: yantong.li@dlmu.edu.cn
- 基金信息：
  
  国家自然科学基金项目(72201044);中国博士后科学基金项目(2022M710018);校级基础前沿创新项目(WJY202427)
- DOI：10.12382/bgxb.2024.0505
  中图分类号：
- 收稿：2024-06-26，
  
  网络出版：2025-05-07，
  
  纸质出版：2025-05-31
- 稿件说明：
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张闯, 卫超强, 李延通, 等. 基于舰机协同的岛礁巡航路径规划[J]. 兵工学报, 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.
张闯, 卫超强, 李延通, 等. 基于舰机协同的岛礁巡航路径规划[J]. 兵工学报, 2025,46(5):240505. DOI： 10.12382/bgxb.2024.0505.

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.

关键词

Keywords

references

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