面向栅格地图的区域渐进均分算法  

A progressive region equalization algorithm for rasterized map

作　　者：姚寿文[1] 郝青华 许人介 王晓宇[1] 李波[3] YAO Shouwen;HAO Qinghua;XU Renjie;WANG Xiaoyu;LI Bo(Beijing Institute of Technology,Beijing 100081,China;Inner Mongolia First Machinery Group Co.,Ltd.,Baotou 014030,China;Northwestern Polytechnical University,Xi’an 710129,China)

机构地区：[1]北京理工大学,北京100081 [2]内蒙古第一机械集团有限公司,内蒙古包头014030 [3]西北工业大学,西安710129

出　　处：《兵器装备工程学报》2024年第6期166-174,共9页Journal of Ordnance Equipment Engineering

摘　　要：单架无人机续航能力限制了区域全覆盖侦察,合理的区域划分是实现多无人机协同全域侦察的关键。栅格法规划侦察区域是无人机区域侦察的常用研究方法。为了解决栅格地图等量划分的问题,提出了一种面向栅格地图的区域渐进均分算法。算法由4个阶段构成。阶段1,建立区域边界确认的跳跃迭代法,根据栅格的特点制定判定条件,进行栅格特征标识。阶段2,提出一种双特征标识方法,对射线法进行改进,确定区域内部栅格。阶段3,模仿水波扩散,提出了一种邻边扩散法,实现区域初步的扩散分割。阶段4,设计补偿规则,通过邻边补偿算法,对各子区域栅格数进行数量补偿。实验证明,区域渐进均分算法相较于其他算法,具有较好的聚集性,连续性和均匀性,为多无人机协同全域侦察提供了理论保证。In reality,when conducting full-coverage operation for unknown areas beyond the range of a single UAV,the area needs to be reasonably divided so that multiple UAVs can collaborate for full-area operation.Applying the raster method to plan the operation area is one of the common research methods for region reconnaissance.In order to solve the problem of equal division of raster maps,a progressive region equalization algorithm for raster maps is proposed in this paper.The algorithm is generally divided into four stages:at the first stage,a jump iteration method is used to confirm the region boundary,and the raster features are identified according to the characteristics of the raster.At the second stage,a double feature identification method is proposed to improve the ray method to determine the internal raster of the region.At the third stage,neighboring edge diffusion method is proposed to achieve the initial diffusion partitioning of the region by mimicking water wave diffusion.At the fourth stage,the compensation rules are designed to compensate the number of grids in each subregion by the neighboring edge compensation algorithm.The final regional homogeneous effect is obtained after the above-mentioned optimization-seeking process.The experiment proves that the equalization algorithm proposed in this paper has better aggregation,continuity and uniformity compared with other algorithms,which provides a theoretical guarantee for multi-UAV cooperative full-area operation.

关 键 词：渐进均分算法 跳跃迭代 射线法 邻边扩散 邻边补偿 

分 类 号：E91[军事] V279[航空宇航科学与技术—飞行器设计]