【作者】 王倩；

【导师】 郑红星；

【作者基本信息】 大连海事大学 ， 物流工程与管理， 2024， 硕士

【摘要】 受到全球气候剧烈变暖影响,世界各地森林火灾发生频率逐年上升,消耗大量消防资源。而森林中复杂的地势大大削弱消防车扑救着火点时的可达性,导致很多时候某些特殊地势中着火点的火势未能得到及时有效的控制,火势快速蔓延导致扑救难度大大增加。而随着无人机及无线通讯技术的发展成熟,无人机飞行速度快与不受地理条件限制的优势已在物流、交通等各行业得到凸显,亦已逐渐参与到城市、森林等各种现实场景的消防应急救援工作中。考虑将新兴无人机技术与消防车等传统消防救援资源融合,发挥各自所长,为森林火灾扑救提供新思路,从而提升扑救效率,无人机与消防车的协同救援调度问题已走进研究视野,值得进一步研究。为快速及时地响应复杂森林环境中的火情,尽可能在短时间内扑灭火势。本文研究了森林火灾下多消防车与多无人机协同路径优化问题。重点考虑火势蔓延下过火面积动态变化、着火点访问次数限制、多消防车与多无人机的交互协同时间窗,兼顾无人机容量和飞行距离有限的现实,以最小化扑救时长与扑救成本为优化目标,构建了多辆消防车与多架无人机协同扑救整数规划模型,设计了改进的帝国主义竞争算法用于求解。最后通过大兴安岭森林火灾实例与其他3种扑救模式对比,本文算法于小、中、大不同着火点规模的数值实验中均有较高求解质量,在中、大规模算例中本文算法函数值较GA和ACO结果低分别9.21%与10.63%。设置了三组敏感性实验分析了着火点数量、无人机载重能力以及无人机飞行速度在森林火灾扑救工作中对消防车-无人机扑救组的调度路线的影响。研究结果表明,多无人机与多消防车的协同路线调度方案可有效减少扑救组对着火点的扑救时长的同时优化扑救成本,且考虑消防车多次往返的现实后,无人机载重能力成为限制消防车与无人机调度方案的重要因素。研究成果可为森林火灾中的消防车与消防无人机等救援资源的灵活调度提供参考,同时为后续的消防资源管理提供一些建议。更多还原

【Abstract】 Influenced by the drastic global warming,the frequency of forest fires around the world is increasing year by year,consuming a lot of firefighting resources.The complex terrain in the forest greatly weakens the accessibility of fire trucks when fighting fires,resulting in a lot of times some special terrain in the fire point of the fire can not be controlled in a timely and effective manner,the rapid spread of the fire leads to a great increase in the difficulty of fighting fires.With the development and maturity of UAV and wireless communication technology,the advantages of fast flight speed and no geographical restriction have been highlighted in various industries such as logistics,transportation,etc.At present,UAVs have also been gradually involved in firefighting and emergency rescue work in various real-life scenarios such as cities and forests.Considering the integration of emerging UAV technology with traditional firefighting and rescue resources such as fire trucks,and utilizing their respective strengths to provide new solutions for forest firefighting in order to enhance the efficiency of firefighting,the issue of coordinated rescue scheduling between UAVs and fire trucks has gradually come into the research horizon,and is very worthy of further study.In order to respond quickly and timely to fire situations in complex forest environments and extinguish the fire in as short a time as possible.In this paper,we study the collaborative path optimization problem of multiple fire trucks and multiple UAVs under forest fires.Focusing on the dynamic change of overfire area under fire spreading,the limitation of the number of visits to the fire point,the interaction and cooperative time window of multiple fire engines and multiple UAVs,taking into account the reality of the limited capacity and flight distance of the UAVs,and with the optimization objective of minimizing the extinguishing time duration and extinguishing cost,we constructed an integer planning model of coordinated extinguishing of multiple fire engines and multiple UAVs,and designed the improved imperialist competitive algorithm for solving.Finally,by comparing the forest fire example in Daxinganling with other three kinds of fighting models,this paper’s algorithm has high solution quality in numerical experiments of different fire point sizes in small,medium and large scale,and the function value of this paper’s algorithm is lower than the results of GA and ACO by9.21% and 10.63% in medium and large scale cases,respectively.Three sets of sensitivity experiments are set up to analyze the effects of the number of fire points,the UAV load capacity and the UAV flight speed on the scheduling routes of the fire truck-UAV firefighting team in the forest firefighting work.The research results show that the coordinated route scheduling scheme of multiple drones and multiple fire engines can effectively reduce the duration of the firefighting group on the fire point while optimizing the cost of the firefighting,and after considering the reality of multiple round trips of the fire engines,the UAV’s load capacity becomes an important factor limiting the scheduling scheme of the fire engines and the drones.The results of this study can provide a reference for the flexible scheduling of rescue resources such as fire trucks and drones in forest fires,and also provide some suggestions for the subsequent management of fire resources.更多还原