多无人机协同覆盖路径规划
收稿日期: 2015-04-20
修回日期: 2015-06-07
网络出版日期: 2015-06-12
Cooperative coverage path planning for multiple UAVs
Received date: 2015-04-20
Revised date: 2015-06-07
Online published: 2015-06-12
陈海 , 何开锋 , 钱炜祺 . 多无人机协同覆盖路径规划[J]. 航空学报, 2016 , 37(3) : 928 -935 . DOI: 10.7527/S1000-6893.2015.0174
Because of its parallelism and fault tolerant capability, the cooperative coverage path planning(CPP) for UAVs is very important in enhancing UAV's abilities for reconnaissance, surveillance, search and other missions. An algorithm for cooperative CPP for multiple UAVs is proposed based on mission performance evaluation and mission region decomposition. The UAV's capabilities for coverage mission implementation are analyzed quantitatively. The formulas for calculating the mission performance index are given based on the performances of the UAV and the onboard imaging sensor. A subregion decomposition algorithm based on the mission performance of the UAV and the width of the subregion is proposed to get the least total number of turns. The simulation results show that we can obtain the global optimal cooperative paths for multiple UAVs by using the proposed algorithm.
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