多无人机协同搜索区域分割与覆盖  

Decomposition and coverage of multi-UAV cooperative search area

作　　者：于驷男 周锐[1] 夏洁[1] 车军[2] 

机构地区：[1]北京航空航天大学飞行器控制一体化技术重点安验室,北京100191 [2]中航工业西安飞行自动控制研究所,西安710065

出　　处：《北京航空航天大学学报》2015年第1期167-173,共7页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(61273349,61175109,61203223,61333004);航空科学基金资助项目(2013ZA18001);北航基本科研业务费资助项目(YWF-14-ZDHXY-03)

摘　　要：多无人机覆盖搜索是无人机的一项主要任务,将搜索区域进行分割后,每个子区域内成为单机覆盖搜索问题,大大降低了任务难度.对无人机的平行搜索策略进行了详细的分析,针对平行搜索策略给出了搜索起始点、转弯关键点、搜索终点的判断依据,使得区域覆盖率达到100%.分析了最小转弯半径对搜索路径的影响.根据无人机初始位置和搜索面积对任意凸多边形搜索区域进行分割.针对无人机搜索的特点,以转弯次数作为主要依据对分割结果进行评估.对不同情况下无人机从初始位置到搜索起始点的路径进行了研究.最后通过仿真验证了方法的实用性.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.

关 键 词：多无人机 协同搜索 凸多边形分割 平行搜索策略 覆盖航迹 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]