多无人机协同覆盖路径规划

doi:10.7527/S1000-6893.2015.0174

Abstract

Abstract:

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.

Key words: multiple UAVs, coverage path planning(CPP), mission performance index, subregion width, mission region decomposition, number of turns

CLC Number:

V279

CHEN Hai, HE Kaifeng, QIAN Weiqi. Cooperative coverage path planning for multiple UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(3): 928-935.

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Cooperative coverage path planning for multiple UAVs

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