Path Planning of UAV-UGV Heterogeneous Robot System in Road Network

  • Mengqing Chen
  • Yang ChenEmail author
  • Zhihuan Chen
  • Yanhua Yang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


The previous research on path planning of the UAV-UGV heterogeneous robot system plan paths for both UAV and UGV without considering the UGV’s moving range or plan only the UAV’s path based on the given UGV’s path. In reality, the UGV should be restricted to drive in the road network, and the given UGV’s path is not necessarily the best UGV’s path. In the heterogeneous package delivery system considered in this paper, the UGV’s path was restricted to the road network and the UAV’s and UGV’s paths were optimized simultaneously to get the optimized paths. This paper proposed a two-stage strategy to solve the path planning problem by a hybrid algorithm of modified ant colony optimization and genetic algorithm. The simulation results show that the proposed method is feasible.


Heterogeneous robot system Path planning Two-stage strategy Road network 



This work was partially supported by National Key Research and Development Program of China under grant No. 2017YFC0806503 and Natural Science Foundation of China (NSFC) under grant No. 61573263 and No. 61703314.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Mengqing Chen
    • 1
  • Yang Chen
    • 1
    • 2
    Email author
  • Zhihuan Chen
    • 1
    • 2
  • Yanhua Yang
    • 2
  1. 1.Institute of Robotics and Intelligent SystemsWuhan University of Science and TechnologyWuhanChina
  2. 2.Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of EducationWuhanChina

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