无人机覆盖航迹规划中子区域合并方法设计

A combination algorithm of sub-regions for UAV coverage flight path planning

为了有效提升无人机覆盖效率,提出了一种子区域合并方法,并给出了完整的算法实现步骤。该算法针对相邻子区域计算损失函数,并建立了相应的合并规则,通过将交界线两边的航迹线两两配对,得到一条新的整体的可行航迹。此方法相对于其他算法,有效地减少了转弯次数,有着更高的执行效率,因此具有更好的实用性。

In order to increase the efficiency of UAV coverage, a combination method of sub-regions is proposed and the complete algorithm steps are given in this paper. The calculation method of the cost function for adjacent sub-regions and the establishment of appropriate merger rules are given in this algorithm, and through pairing the boundary line by line in both sides of the track, we can get a new viable track plan. Compared to other algorithms, this proposed algorithm can effectively reduce the number of turns and have a higher et^ciency, and therefore have better usabihty.