Abstract
The remarkable development of various sensor equipment and communication technologies has stimulated many application platforms of automation. A drone is a sensing platform with strong environmental adaptability and expandability, which is widely used in aerial photography, transmission line inspection, remote sensing mapping, auxiliary communication, traffic patrolling, and other fields. A drone is an effective supplement to the current patrolling business in road traffic patrolling with complex urban buildings and road conditions and a limited ground perspective. However, the limited endurance of patrol drones can be directly solved by vehicles that cooperate with drones on patrolling missions. In this paper, we first proposed and studied the traffic patrolling routing problem with drones (TPRP-D) in an urban road system. Considering road network equations and the heterogeneity of patrolling tasks in the actual patrolling process, we modeled the problem as a double-layer arc routing problem (DL-ARP). Based on graph theory and related research work, we present the mixed integer linear programming formulations and two-stage heuristic solution approaches to solve practical-sized problems. Through analysis of numerical experiments, the solution method proposed in this paper can quickly provide an optimal path planning scheme for different test sets, which can save 9%–16% of time compared with traditional vehicle patrol. At the same time, we analyze several relevant parameters of the patrol process to determine the effect of coordinated traffic patrol. Finally, a case study was completed to verify the practicability of the algorithm.
Highlights
With the rapid growth of urban vehicle ownership [1], road traffic congestion has become a hotly debated public concern, and traffic management departments can effectively alleviate traffic congestion by deploying patrol vehicles to patrol different road sections [2]
Based on the above analysis, this paper studies the traffic patrolling routing problem with drones (TPRP-D) in an urban road system, which is oriented toward heterogeneous tasks
With time minimization as the objective, this process considers all heterogeneous tasks and returns to the patrol center. This paper models this problem as a double-layer arc routing problem (DL-ARP)
Summary
With the rapid growth of urban vehicle ownership [1], road traffic congestion has become a hotly debated public concern, and traffic management departments can effectively alleviate traffic congestion by deploying patrol vehicles to patrol different road sections [2]. Based on the above analysis, this paper studies the traffic patrolling routing problem with drones (TPRP-D) in an urban road system, which is oriented toward heterogeneous tasks. A novel problem, the TPRP-D in an urban road system, is introduced and defined This problem considers the access to heterogeneous tasks in the coordination of vehicles and drones. By introducing a directed graph as a modeling form of the road network, heterogeneous tasks and two types of vehicle paths in the road network are expressed uniformly Based on this approach, the patrolling process is modeled and described through two-layer mixed integer programming (MIP). The research results show that the algorithm designed in this paper can obtain a high-quality feasible solution of the TPRP-D in a relatively short time for the actual-scale problem and quickly provide a satisfactory vehicle–aircraft cooperative traffic patrolling scheme for the traffic police department.
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