多无人机协同搜索区域划分与路径规划

doi:10.7527/S1000-6893.2019.23770

Abstract

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

CLC Number:

V279

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.

References 22

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Multi-UAV cooperative search on region division and path planning

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