Multi-UAV cooperative search on region division and path planning

被引：0

作者：

Dai J. ^{[1
]}

Xu F. ^{[1
]}

Chen Q. ^{[1
]}

机构：

[1] School of Aeronautics and Astronautics, Central South University, Changsha

来源：

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2020年 / 41卷

关键词：

Cooperative search; Dubins path; Path planning; Region division; Unmanned aerial rehicle;

D O I：

10.7527/S1000-6893.2019.23770

中图分类号：

学科分类号：

摘要：

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. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.

引用

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