Unmanned Aerial Vehicles (UAVs) are widely used for military and civilian purposes. Effective route planning is an important component of their successful missions. In this study, we address the route planning problem of a UAV tasked with collecting information from various target locations in a protected terrain. We consider multiple targets, three objectives, and time-dependent information availability. Modeling the movement of UAVs in a continuous terrain in the presence of multiple objectives is complex. Conflicting objectives typically lead to a continuum of efficient trajectory options between two targets. We formulate the routing problem as a mixed-integer programming (MIP) model that captures the movement in the continuous terrain. We demonstrate the superiority of the continuous terrain formulation over the simplified discretized terrain formulation. We also develop an approximation algorithm that reduces the computational requirements of the MIP model substantially while ensuring a desired level of precision.

中文翻译：

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无人驾驶飞行器在连续地形下的多目标航线规划：一种精确与近似算法


无人机 （UAV） 广泛用于军事和民用目的。有效的路线规划是他们成功任务的重要组成部分。在本研究中，我们解决了无人机的路线规划问题，该无人机的任务是从受保护地形中的各种目标位置收集信息。我们考虑多个目标、三个目标和随时间变化的信息可用性。在存在多个目标的情况下，对无人机在连续地形中的运动进行建模非常复杂。相互冲突的目标通常会导致两个目标之间出现一系列有效的轨迹选择。我们将路由问题表述为混合整数规划 （MIP） 模型，用于捕获连续地形中的移动。我们证明了 continuous terrain 公式优于简化的离散化 terrain 公式。我们还开发了一种近似算法，在确保所需精度水平的同时，大大降低了 MIP 模型的计算要求。