多无人机协同搜索区域划分与路径规划

doi:10.7527/S1000-6893.2019.23770

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多无人机协同搜索区域划分与路径规划

戴健, 许菲, 陈琪锋

中南大学航空航天学院, 长沙 410083

收稿日期:2019-12-13 修回日期:2019-12-25 出版日期:2020-06-30 发布日期:2020-01-02
通讯作者: 许菲 E-mail:xufei_@csu.edu.cn
基金资助:
无人装备体系建模与仿真装备预研基金（61400010303）；航天器设计优化与动态模拟技术教育部重点实验室（北京航空航天大学）开放基金（2019KF003）

Multi-UAV cooperative search on region division and path planning

DAI Jian, XU Fei, CHEN Qifeng

School of Aeronautics and Astronautics, Central South University, Changsha 410083, China

Received:2019-12-13 Revised:2019-12-25 Online:2020-06-30 Published:2020-01-02
Supported by:
Equipment Pre-Research Fund for Modeling and Simulation of Unmanned Equipment System (61400010303); Open Foundation for Key Laboratory of Spacecraft Design Optimization and Dynamic Simulation Technologies (Beihang University), Ministry of Education(2019KF003)

摘要/Abstract

摘要： 针对多无人机广域协同搜索问题，研究无人机工作区间划分和全区域覆盖搜索路径规划2个子问题。采用按无人机来向均衡划分的方法和凹点凸分解的方法，开展了凸多边形和非凸多边形的区域划分研究，将多机协同搜索问题转化为子区域上的单机搜索问题；在此基础上采用"Z"型路径覆盖方法以及Dubins转弯路径，对各个无人机开展覆盖其子区域的搜索路径规划，从而建立了一个区域划分和路径规划的整体调用框架，能够对目标区域快速进行划分并生成飞行路线。最后，对凸多边形和非凸多边形区域搜索开展仿真计算，验证了该方法的有效性。

关键词: 无人机, 协同搜索, 区域划分, 路径规划, Dubins路径

Abstract: Aiming at the multi-UAV cooperative search, two sub-problems of UAV working region division and full-area coverage search path planning are discussed and analyzed. By adopting the parallel division method and the concave-convex decomposition method, the region division of convex polygons and non-convex polygons is carried out. Thus, the multi-UAV cooperative search problem is transformed into a single-UAV search problem on a sub-region. Based on this, the "Z"-type path coverage method and the Dubins turning path are used to implement the path planning on each small sub-region, establishing an overall invocation framework of regional division and path planning, which can quickly divide the target area and generate flight routes. Finally, the simulations of convex and non-convex polygons verify the validity of the proposed method in this study.

Key words: unmanned aerial rehicle, cooperative search, region division, path planning, Dubins path

中图分类号:

V279

戴健, 许菲, 陈琪锋. 多无人机协同搜索区域划分与路径规划[J]. 航空学报, 2020, 41(S1): 723770-723770.

DAI Jian, XU Fei, CHEN Qifeng. Multi-UAV cooperative search on region division and path planning[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723770-723770.

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多无人机协同搜索区域划分与路径规划

Multi-UAV cooperative search on region division and path planning

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