面向突发事件和视日运动跟踪的太阳能无人机航路规划技术研究

In order to meet the urgent needs of the field situation awareness in emergency management, this research provides in-depth study on the Solar-powered Unmanned Aerial Vehicle (SUAV) in terms of the unique energy production methods, special requirements of continuous work and route planning in complex flight environments. Emergencies decision-making strategies, event chain effects and solar tracking technology will be introduced into the decision-making and planning system of SUAV. The contents of this research mainly include three parts：emergency Site unified modeling ,analysis of the basic elements of the problem and the construction of a SUAV route planning problem frame for emergency tasks; put forward SUAV route planning method for continuous monitoring of small-scale emergencies and establish a scene coverage of events with a serious lack of prior knowledge; a method of dynamic route planning based on the continuous perception of emergency events based on the risk assessment of emergency events and chain efficiency theory. This study can effectively realize the technical requirements of SUAV route planning in response to situation awareness of emergencies and maximize the comprehensive utility of SUAV's own energy optimization and mission requirements so as to provide a basic theoretical basis for the practical application of SUAV.

面向突发事件应急管理现场态势感知的迫切需求，本项目深入研究太阳能无人机（Solar-powered Unmanned Aerial Vehicle，SUAV）独特的能量生产方式、持续工作的特别需求以及复杂飞行环境下航路规划、任务决策特征，尝试将突发事件应急决策策略、事件链式效应及视日运动跟踪技术引入SUAV系统智能决策与规划中，并将突发事件应急管理任务归结为3类典型任务，对突发事件现场统一建模，分析问题基本要素，构建面向突发事件任务的SUAV航路规划问题框架；提出面向小规模突发事件持续监视的SUAV航路规划方法；建立一种先验知识严重缺失的事件现场覆盖式持续监视静态航路规划方法；提出一种基于突发事件风险评估及链式效率理论的突发事件持续感知的动态航路规划方法。本研究可有效实现突发事件应对态势感知的SUAV航路规划技术需求，使SUAV自身能量优化与任务需求综合效用最大化。

本项目面向突发事件应急管理现场态势感知任务迫切需求，深入研究了太阳能无人机独特的能量生产方式、持续工作的特别需求以及复杂飞行环境下航路规划、任务决策特征，将突发事件应急决策策略、事件链式效应及视日运动跟踪技术引入SUAV系统智能决策与规划中，对突发事件现场统一建模，分析了问题基本要素，构建了面向突发事件任务的SUAV航路规划问题框架；提出了面向小规模突发事件持续监视的SUAV航路规划方法；建立了先验知识严重缺失的事件现场覆盖式持续监视航路规划方法；提出了基于突发事件突发事件持续感知的动态航路规划方法。本研究可有效实现突发事件应对态势感知的SUAV航路规划技术需求，使SUAV自身能量优化与任务需求综合效用最大化，为SUAV实践应用提供基础理论依据，为实现突发事件的现场态势快速感知提供了一种新的技术途径，具有重要的理论意义与工程应用价值。