Decomposition and coverage of multi-UAV cooperative search area

被引：0
作者：
Yu, Sinan [1 ]
Zhou, Rui [1 ]
Xia, Jie [1 ]
Che, Jun [2 ]
机构：
[1] Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing
[2] Automatic Flight Control Research Institute, AVIC, Xi'an
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2015年 / 41卷 / 01期
关键词：
Convex polygon decomposition; Cooperative search; Coverage path; Multi-UAV(unmanned aerial vehicle); Parallel search strategy;
D O I：
10.13700/j.bh.1001-5965.2014.0056
中图分类号：
学科分类号：
摘要：
Coverage search of multi aircraft is a major task for unmanned aerial vehicle (UAV). After dividing the searching area, the problem turns into single UAV coverage search problem in each sub-area. This method will make the whole search problem simpler. The parallel searching strategy was analyzed in detail. Using the parallel searching strategy, the bases of determining the beginning point, turning key points and the ending point was given. This strategy enabled 100% coverage in the search area. The minimal turning radius impacts search path and different situations were discussed. The convex polygon search area was decomposed using a method based on the initial position and the percent of search area of each UAV. Based on the characteristic of UAV searching, the decomposition result was mainly assessed by the quantity of turning. The path from initial position to the search beginning point was discussed. Finally, the simulation result proves this method is feasible. ©, 2015, Beijing University of Aeronautics and Astronautics (BUAA). All right reserved.
引用
收藏
页码：167 / 173
页数：6
相关论文
共 16 条
  • [1] George J., Sujit P.B., Sousa J.B., Search strategies for multiple UAV search and destroy missions, Journal of Intelligent & Robotic Systems, 61, 1-4, pp. 355-367, (2011)
  • [2] Huang W.H., Optimal line-sweep-based decompositions for coverage algorithms, Proceedings of the IEEE International Conference on Robotics and Automation, 1, pp. 27-32, (2001)
  • [3] Araujo J.F., Sujit P.B., Sousa J.B., Multiple UAV area decomposition and coverage, Computational Intelligence for Security and Defense Applications (CISDA), pp. 30-37, (2013)
  • [4] Li Z.W., Xia J., Reconnaissance path planning for UAV, Journal of System Simulation, 20, z1, pp. 490-494, (2008)
  • [5] Yuan L.P., Xia J., Chen Z.J., Survey on multiple UAV cooperatice path planning research, Flight Dynamics, 27, 5, pp. 1-5, (2009)
  • [6] Lin L., Goodrich M.A., Hierarchical heuristic search using a Gaussian mixture model for UAV coverage planning, IEEE Transactions on Cybernetics, 44, 12, pp. 2532-2544, (2014)
  • [7] Shen D., Wei R.X., Ru C.J., Digital-pheromone-based control method for UAV swarm search, Systems Engineering and Electronics, 35, 3, pp. 591-596, (2013)
  • [8] Dille M., Singh S., Efficient aerial coverage search in road networks, AIAA Guidance, Navigation, and Control(GNC) Conference, pp. 1-20, (2013)
  • [9] Peng H., Shen L.C., Huo X.H., Research on multiple UAV cooperative area coverage searching, Journal of System Simulation, 19, 11, pp. 2472-2476, (2007)
  • [10] Xuan Y.B., Huang C.Q., Wu W.C., Et al., Coverage search strategies for moving targets using multiple unmanned aerial vehicle teams, Systems Engineering and Electronics, 35, 3, pp. 539-544, (2013)
12