@inproceedings{5caa0c39274d49219eea646ceb33bfad,
title = "A Hierarchical Optimization Framework for Multi-UGVs in Boundary Guard Path Planning",
abstract = "Focused on the regional boundary guarding task based on a multi-UGVs system, this paper aims to prevent intrusions by external objects into the protected area. By defining the distribution rules for assigning patrol tasks, a hierarchical optimization framework is constructed to optimize the UGV deployment. A genetic algorithm is applied in the outer loop to optimize the distribution of UGV layers. Within the inner loop, a simulated annealing algorithm is applied to optimize the angular distribution of the UGVs. This two-layer framework ensures a tight and effective patrol of the designated area. Simulation results demonstrate that the proposed method effectively reduces the likelihood of external objects intruding into the area.",
keywords = "Boundary guard path planning, Mission planning, Regional patrol",
author = "Miao Wang and Xiaofeng Zhao and Yankun Wang and Haoyu Tian and Weiran Yao",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2026.; 5th International Conference on Autonomous Unmanned Systems, ICAUS 2025 ; Conference date: 17-10-2025 Through 19-10-2025",
year = "2026",
doi = "10.1007/978-981-95-7648-7\_44",
language = "英语",
isbn = "9789819576470",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "501--509",
editor = "Shaorong Xie and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 5th 2025 International Conference on Autonomous Unmanned Systems (ICAUS)",
address = "德国",
}