考虑基站选址的UAV交通巡视路径超级时空网络模型

针对考虑基站选址的无人机交通巡视路径优化问题，提出一个超级网络与时空网络相结合的方法，并通过该方法建立模型。通过在时空网络添加虚拟起降点，与全部时刻的备选基站相连接构成超级时空网络，可将考虑基站选址的路径规划转换为一个单纯的多UAV路径规划问题。与不考虑基站选址的路径规划相比，考虑基站选址能够使最大单机飞行时间和总飞行时间分别减少5.71%和11.59%。数值分析表明，基站选址和交通巡视路径规划整合可有效减少UVA的巡视成本。

UAV traffic patrolling path planning super-space-time network model considering base station location problem

Based on the optimization problem of site selection and optimal path planning of UAV during traffic network inspection, this paper proposed a me-thod of combining super network with space-time network, and built a model through this method. It constructed a super-space-time network by adding virtual take-off and landing points in the space-time network, and required the virtual take-off and landing point to be connected with the alternative base stations at all times. In this way, it transformed the path planning considering the site selection of the base station into a simple multi-UAV path planning problem. Compared with the path planning without considering the site selection of the base station, considering the base station site selection could reduce the maximum stand-alone flight time and total flight time by 5.71% and 11.59%, respectively. Numerical analysis shows that the integration of base station location and traffic patrol route planning can effectively reduce the UVA patrol costs.