面向影像拼接的多无人机覆盖搜索规划方法  

Multi-Uav Area Coverage Plan Method for Image Stitching

作　　者：郑锴 李明明 郑献民 殷少锋 丁学亮 ZHENG Kai;LI Mingming;ZHENG Xianmin;YIN Shaofeng;DING Xueliang(Zhengzhou Campus,Army Academy of Artillery and Air Defense Force,Zhengzhou 450000,China;Unit 32146 of PLA,Jiaozuo 454000,China)

机构地区：[1]陆军炮兵防空兵学院郑州校区,郑州450000 [2]解放军32146部队,河南焦作454000

出　　处：《火力与指挥控制》2025年第2期70-77,共8页Fire Control & Command Control

基　　金：装备综合研究项目。

摘　　要：针对多无人机广域侦察态势感知的应用需求,提出一种面向影像拼接的多无人机覆盖搜索规划方法。将初始给定任务区域转换处理为凸多边形区域,结合影像拼接要求解算出视场大小、航拍间隔和航带间隔等覆盖参数;依据凸多边形宽度确定航带方向,预估任务总航程和各无人机航程,并结合预估航程分配任务子区域;通过直线段航线与凸多边形的相交检测,循环扩展解算出序列航迹点,结合预估航程确定各无人机的任务起始点,规划出各无人机的覆盖搜索航线。开发了多无人机覆盖搜索规划软件,验证了所提出的多无人机覆盖搜索规划处理流程。实验结果表明,依据预估航程规划分配,各无人机航程相近、转弯次数均匀,能够快速高效地完成整个覆盖搜索任务。In order to realize the application requirements of wide area reconnaissance situational awareness,a multi-UAV area coverage plan method for image stitching is proposed.Firstly,the initial given mission area is converted into convex polygon region,and such coverage parameters as field of view size,aerial photography interval and flight strip interval are calculated based on the image stitching requirements.Then,the flight strip direction is determined by the convex polygon width,the total distance of mission and the flight distance of each UAV are pre-estimated,and the sub-areas of mission are assigned according to the estimated flight distance of each unmanned aerial vehicle(UAV).Lastly,the sequential flight points are cyclically extended and calculated by the intersection of the straight-line flight and the convex polygon,and the starting points of each UAV are determined through the estimated flight distance.The coverage search flight path of each UAV is planned.The coverage and search planning software of multiple UAVs is developed.The proposed multi-UAV coverage and search planning process is verified.The proposed whole process of area coverage method is verified.The experiment results show that according to the planning assignment of pre-estimated flight path,the flight distance of each UAV is similar,the turn numbers of each UAV are even,and the entire coverage and search mission can be rapidly and efficiently completed.

关 键 词：无人机 覆盖搜索 任务分配 航迹规划 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]