航空学报 > 2024, Vol. 45 Issue (6): 328944-328944   doi: 10.7527/S1000-6893.2023.28944

固定翼无人机巡逻覆盖协同路径规划方法

尹洪玉1, 吴宇1(), 梁天骄2   

  1. 1.重庆大学 航空航天学院,重庆 400044
    2.航空工业成都飞机设计研究所,成都 610091
  • 收稿日期:2023-04-28 修回日期:2023-06-17 接受日期:2023-07-12 出版日期:2024-03-25 发布日期:2023-07-21
  • 通讯作者: 吴宇 E-mail:cquwuyu@cqu.edu.cn
  • 基金资助:
    国家自然科学基金项目(52102453)

Cooperative path planning for patrol coverage of fixed wing UAV

Hongyu YIN1, Yu WU1(), Tianjiao LIANG2   

  1. 1.College of Aerospace Engineering,Chongqing University,Chongqing 400044,China
    2.AVIC Chengdu Aircraft Design & Research Institute,Chengdu 610091,China
  • Received:2023-04-28 Revised:2023-06-17 Accepted:2023-07-12 Online:2024-03-25 Published:2023-07-21
  • Contact: Yu WU E-mail:cquwuyu@cqu.edu.cn
  • Supported by:
    National Natural Science Foundation of China(52102453)

摘要:

固定翼无人机(UAV)以其速度快,成本低和可搭载更多设备的优点被广泛应用于侦察任务当中。针对固定翼无人机复杂山地环境协同巡逻覆盖任务中的路径规划问题进行了研究。与以往研究关注无人机实现整个区域的完全覆盖不同,本文关注的重点是多架无人机对任务区域展开协同巡逻,并保证区域内每个地点都能够被无人机连续访问。以往的研究中,无人机的工作模式为分别负责每个子区域的覆盖任务,而本研究中多架无人机在整个巡逻区域中协同工作,能够在提高覆盖效率的基础上更加灵活地处理紧急情况。针对紧急情况下需要在短时间内访问目标区域,设计了一种设置动态目标点的策略和小尺度下的穿梭覆盖算法,保证执行紧急任务的无人机能够在规定时间内到达目标区域的同时兼顾正常的巡逻任务,且对目标区域实现完全覆盖。最后通过一系列的仿真来验证巡逻覆盖协同路径规划算法在侦察覆盖任务中应用的可行性和优化效果。并且在紧急任务中验证动态目标点设置策略相比于以往静态目标点的优越性。

关键词: 固定翼无人机, 侦察覆盖任务, 巡逻覆盖协同路径规划算法, 穿插覆盖算法, 动态目标点

Abstract:

Fixed-wing Unmanned Aerial Vehicle (UAV) is widely used in reconnaissance missions because of its high speed, low cost and ability to carry more equipment. In this paper, path planning for cooperative patrol coverage of fixed wing UAV in complex mountain environment is studied. Different from previous studies that focus on using UAV to achieve complete coverage of the whole area, the focus of this paper is on multiple UAVs’ collaborative patrol of the mission area to ensure that all locations in the area can be continuously visited by UAVs. In previous studies, the cooperative mode of UAVs is to cover each subarea separately, while in this study, multiple UAVs work cooperatively in the whole area, so as to deal with emergencies more flexibly on the basis of improving coverage efficiency. To meet the need to visit the target area in a short time in emergency situations, a strategy of dynamic target points and a small-scale crossing coverage algorithm are designed to ensure that the UAV selected for emergency tasks can reach the target area within a specified time while keep the efficiency of normal patrol task, and can also achieve complete coverage of the target area. Finally, simulations are carried out to verify the feasibility and optimization effect of the algorithm proposed in the reconnaissance coverage task. The superiority of the dynamic target point strategy over static target point strategy is also verified in the urgent task.

Key words: fixed-wing UAV, reconnaissance and coverage mission, cooperative patrol coverage path planning algorithm, crossing coverage algorithm, dynamic target point

中图分类号: