考虑最短转弯半径的无人机区域覆盖航迹规划  

UAV Area Coverage Path Planning by Considering the Shortest Turning Radius

作　　者：宋志强 陈少博 SONG Zhiqiang;CHEN Shaobo(School of Automation,Wuxi University,Wuxi 214105,Jingsu,China;School of Automation,Binjiang College of Nanjing University of Information Science and Technology,Wuxi 214105,Jingsu,China)

机构地区：[1]无锡学院自动化学院,江苏无锡214105 [2]南京信息工程大学滨江学院自动化学院,江苏无锡214105

出　　处：《实验室研究与探索》2023年第7期124-129,共6页Research and Exploration In Laboratory

基　　金：江苏省产学研合作项目(BY2021238);南京信息工程大学滨江学院(无锡学院)人才启动经费项目(2021r001)。

摘　　要：为实现无人机测量自动化,必须解决覆盖航迹规划,即无人机路径规划,以便监测感兴趣区域内的所有点。为此,提出改进的旋转卡尺航迹规划算法,综合考虑被测区域的凹凸性、无人机类型、无人机起飞点、着陆点,计算最优边-点来回航迹,构成完整的覆盖航迹。被测区域是凹多边形,则将其分割为具有最小个数的凸边形;如果采用固定翼无人机,则需要考虑其最小转弯半径,进行航迹规划。仿真结果表明,改进的航迹规划算法更具实用性和有效性。To automatically complete the measurement task,the coverage path planning problem must be solved,which is to compute the path of the UAV in order to monitor all points in the interested region.An improved rotating caliper path planning algorithm is proposed by comprehensively considering the concavity and convexity of the measured area,the type of UAV,the take-off point and the landing point of the UAV,and the optimal edge-vertex back-forth path are calculated to form a complete coverage path.If the measured area is a concave polygon,it is firstly divided into convex polygons with a minimum number of polygons.If it is a fixed-wing UAV,its minimum turning radius needs to be considered,and then the path planning is carried out.Simulation results show that the improved path planning algorithm is more practical and effective.

关 键 词：无人机 覆盖航迹规划 最小转弯半径 凹多边形分割 

分 类 号：TP79[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]