多无人机覆盖路径算法的设计  

Design of Multi-UAV Coverage Path Algorithm

作　　者：黄敏 Huang Min(North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学,北京100144

出　　处：《黑龙江科学》2024年第20期35-37,共3页Heilongjiang Science

摘　　要：为了解决在野外和受灾地区中多无人机路径规划后任务负载不平衡问题提出一种基于覆盖路径生成算法STC和生成树覆盖算法的负载平衡多无人机覆盖路径算法,基于STC算法优化路径分区过程设计平衡切割算法迭代的优化路径分区负载权值,解决了多无人机在完成目标区域覆盖时工作负载不均的问题,通过对比仿真实验验证了方法的可行性。结果表明,此算法可以在有限资源限制条件下找到多无人机最优路径分区并有效平衡多无人机负载。In order to solve the problem of multi-UAV mission load imbalance and path planning in the field and disaster-stricken areas,a load-balanced multi-UAV coverage path algorithm based on the coverage path generation algorithm STC and the balanced cut algorithm is proposed.Based on the STC algorithm,the path partitioning process is optimized,the balanced cut algorithm is designed to iteratively optimize the load weights of the path partitioning,which solves the problem of uneven workload of multiple UAVs in completing the coverage of the target area.The feasibility of the method is verified through comparative simulation experiments.The results show that the BmCPP algorithm can find the optimal path for multiple UAVs and effectively balance the load of multiple UAVs under limited resource constraints.

关 键 词：全覆盖路径规划 无人机 最小生成树 覆盖路径生成算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]