基于垂直区域宽度分解的无人机覆盖航迹规划

UAV coverage track planning based on decomposition along the direction of perpendicular to the width of the area

为解决多无人机执行区域覆盖任务时,存在覆盖效率低的问题,提出了基于垂直区域宽度分解的无人机覆盖航迹规划算法。首先,为了尽可能以最少的转弯次数完成任务,提出了垂直区域宽度分解法。然后,考虑到实际运用中由于飞手数量与无人机数量不匹配,导致资源分配不均的问题,使用垂直区域宽度分解法将任务区域分解为待覆盖的子航迹集合,并建立了以时间代价为目标函数的混合整数线性规划子航迹分配模型,来根据飞手数量与无人机数量动态的将子航迹进行均衡分配,达到提高覆盖效率的目的。最后,通过仿真实验验证了该算法的有效性。

In order to solve the problem of low reconnaissance efficiency in the multiple unmanned aerial vehicles (multi-UAVs) perform area coverage mission,the UAV coverage track planning algorithm based on decomposition along the direction of perpendicular to the width of the area is proposed.Firstly,in order to complete the mission with as few turns as possible,the method of decomposition along the direction of perpendicular to the width of the area is proposed.Then,considering the problem of uneven resource allocation due to the mismatch between the number of operators and the number of UAVs in actual operation,the decomposition method is used to decompose the mission area into sub-track sets to be covered.A mixed integer linear programming model with time cost as the objective function is established to dynamically distribute the sub-tracks according to the number of operators and the number of UAVs,so as to improve the coverage efficiency.Finally,the validity of the algorithm is verified by simulation experiments.