动态调整无人机与地面车会合点，应对未知燃油消耗。
Online Planning for Cooperative Air-Ground Robot Systems with Unknown Fuel Requirements
- 先离线规划路径，再在线实时调整会合点。
- 仿真验证路径有效性，保障任务完成率。
- 适合需要灵活补给的协同空地系统。
我们研究了一种带有移动加油站的燃料约束无人机路径规划问题（FCURP-MRS）的在线变体，其中目标点的燃油消耗未知。提出两阶段解决方案：首先使用基于启发式的离线规划器计算无人机和地面车的初始路径；随后设计一种新型在线规划算法，根据目标处理过程中的实时燃油消耗动态调整会合点。初步在Gazebo仿真中验证了该方法在维持无人机-地面车路径有效性及确保任务完成方面的可行性。视频链接：https://youtu.be/EmpVj-fjqNY
原文摘要 · Abstract (English)
We consider an online variant of the fuel-constrained UAV routing problem with a ground-based mobile refueling station (FCURP-MRS), where targets incur unknown fuel costs. We develop a two-phase solution: an offline heuristic-based planner computes initial UAV and UGV paths, and a novel online planning algorithm that dynamically adjusts rendezvous points based on real-time fuel consumption during target processing. Preliminary Gazebo simulations demonstrate the feasibility of our approach in maintaining UAV-UGV path validity, ensuring mission completion. Link to video: https://youtu.be/EmpVj-fjqNY
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