Distributed collaborative complete coverage path planning based on hybrid strategy  

作　　者：ZHANG Jia DU Xin DONG Qichen XIN Bin 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China [2]National Key Laboratory of Autonomous Intelligent Unmanned Systems,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Journal of Systems Engineering and Electronics》2024年第2期463-472,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China (61903036, 61822304);Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100)。

摘　　要：Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.

关 键 词：multi-agent cooperation unmanned aerial vehicles(UAV) distributed algorithm complete coverage path planning(CCPP) 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TP18[自动化与计算机技术—控制理论与控制工程]