一种凹多边形区域的无人机覆盖路径规划算法  

An Algorithm of Coverage Path Planning for UAV in Concave Polygon Area

作　　者：王红星[1] 马学娇 张长森[1] Wang Hongxing;Ma Xuejiao;Zhang Changsen(Henan Polytechnic University,Jiaozuo 454002,China)

机构地区：[1]河南理工大学,河南焦作454002

出　　处：《航空兵器》2021年第6期46-52,共7页Aero Weaponry

基　　金：河南省科技攻关项目(13170065)。

摘　　要：区域覆盖路径规划技术对于提高无人机搜索的效率和正确率具有重要的意义。本文针对凹多边形区域,提出一种区域覆盖算法,旨在使无人机能够更加高效地完成对指定区域的无遗漏覆盖搜索。首先,给出了处理凹多边形区域的凹点、利用凸分解进行区域划分的的算法流程;其次,给出了无人机基于最小多余路径的子区域遍历顺序,详细描述了无人机对区域的无遗漏覆盖遍历;最后,根据仿真实验分析,证明了该算法的正确性与有效性。Coverage path planning technologies is of great significance for improving the efficiency and accuracy of UAV search.This paper proposes a area coverage path planning(CPP)algorithm for the concave polygon area,which aims to enable UAV to complete the coverage search of the specified area more efficiently.Firstly,the algorithm flow is given by dealing with concave points in concave polygon area and dividing the area by convex decomposition.Secondly,the traverse sequence of the subarea is given based on the minimum redundant path,and the covering traverse without omission of the area by UAV are discribed in detail.Finally,the correctness and effectiveness of the proposed algorithm are proved by simulation experiments.

关 键 词：无人机 区域覆盖 路径规划 凹多边形 凸分解 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程] V279[航空宇航科学与技术—飞行器设计]