复杂任务区域的区域划分与覆盖路径规划  

Decomposition and Coverage Path Planning of Complex Operation Area

作　　者：崔宝艺 吕跃勇[2] 秦文宇 马广富 CUI Baoyi;LYU Yueyong;QIN Wenyu;MA Guangfu(School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518000,China;School of Astronautics,Harbin Institute of Technology,Harbin 150000,China)

机构地区：[1]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518000 [2]哈尔滨工业大学航天学院,哈尔滨150000

出　　处：《无人系统技术》2024年第1期97-105,共9页Unmanned Systems Technology

基　　金：国家自然科学基金(62273118);空间智能控制技术实验室开放基金(HTKJ2022KL502012)。

摘　　要：多无人机对指定区域进行巡飞探测,在地理测绘、抢险救灾等领域起到重要作用。针对多无人机对凸/非凸多边形区域的覆盖问题,开展了复杂目标区域的区域划分以及覆盖路径规划技术研究。首先,建立了无人机飞行运动模型和指定区域的边界描述。然后,针对目标区域为凸多边形与非凸多边形两种情况,同时考虑区域凸分解与集群覆盖效率优化,分别提出了基于线扫描的凸区域划分方法与基于Delaunay三角剖分的非凸区域划分方法。接着,考虑无人机运动学约束与能量消耗最小化,提出了一种最小转弯半径约束下的Z型覆盖路径。最后,通过数值仿真验证了本文所提方法的有效性。结果表明,所提方法可以对凸/非凸多边形区域实现凸划分并减小了各子区域面积差异,提高了集群总覆盖效率,覆盖路径规划方法使路径总长相较于未沿主轴覆盖时减小了26%,转弯路径占比减小了36%。Multiple drones conduct patrolling and detection over designated areas,playing a crucial role in fields like geospatial surveying and disaster rescue.This article focuses on the issue of coverage by multiple drones in convex/non-convex polygonal areas,carrying out research on area decomposition and coverage path planning for complex target areas.First,a flight motion model for drones and a boundary description for the designated area are established.Then,for both convex and non-convex polygonal areas,while taking into account convex decomposition and swarm coverage efficiency optimization,a line-sweep-based convex area decomposition method and a Delaunay triangulation-based non-convex area decomposition method are proposed respectively.Next,considering the constraints of drone kinematics and the minimization of energy consumption,a Z-shaped coverage path under the constraint of the minimum turning radius is proposed.Finally,the effectiveness of the proposed methods is verified through numerical simulations.The results show that the proposed methods can achieve convex decomposition for convex/non-convex polygonal areas,reducing the area difference among subareas and improving the coverage efficiency of the swarm.The coverage path planning method,compared to the non-main-axis coverage path,has reduced the total length by 26%,and the proportion of turning paths has decreased by 36%.

关 键 词：区域覆盖 多无人机 非凸区域划分 DELAUNAY剖分 非线性整数规划 Z型覆盖路径 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]