一种基于无人机蜂群的电力工程测绘任务路径规划方法
本发明涉及电力工程测绘技术领域,具体涉及到一种基于无人机蜂群的电力工程测绘任务路径规划方法。本发明并通过均衡划分连续任务段实现了多无人机间的负载均衡,避免了单架无人机负载过重或任务分配不均的问题。本发明在面对无人机电量不足的突发状况时,通过动态筛选接替机和为接替机规划转移路径,整合原有与新分配任务形成更新路径,最终快速调整全局时序生成最终路径集,从而提升测绘任务在单机突发低电量故障下的延续性。
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