In the paper, a method was proposed that used the UAV to patrol the hazardous cargo wharf. Compared with the capacitated Vehicle Routing Problem, the optimized routing was obtained. A whole sweep algorithm was developed to handle this problem based on the traditional sweep algorithm. In the whole sweep algorithm, the simulated annealing was first used to get the distance of the UAV in real time. Second, the real-time distance was compared with the UAV' maximum flying distance until the distance is found to be longer than the maximum flying distance. Then, sweeping was terminated and the previous vertex and routes were saved so that the optimized routing was obtained. Finally, this patrol method was compared with the traditional method, which would save 73.33% time and 66.21% cost.%针对危险品集装箱堆场的巡逻问题,提出使用无人机进行危险品集装箱堆场巡逻的方法,通过和车辆路径CVRP问题的类比,得到优化后的无人机路径.该方法是在传统扫描算法的基础之上,提出一种全扫描的方法,使用模拟退火算法不断求出无人机当前阶段的飞行距离,再将该距离与无人机的额定航程进行对比,直到求得的距离大于无人机航程时,扫描停止,并将该点除去,保留之前的点和路径,形成一条无人机的飞行路径.最后通过和传统方式的比较,得出使用无人机巡逻可以比人工巡逻节省73.33%的时间,节约66.21%运营成本.
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