面向矩形区域的多无人机协同覆盖路径规划算法
首发时间:2017-04-28
摘要:无人机广泛的应用于各个领域,其面临的主要限制在于能耗和通信距离。为了解决日渐复杂的任务,无人机通过组成编队相互协同的方式提高任务完成效率。无人机面临的任务大部分可以归类为扫描覆盖任务。本文针对矩形区域的多无人机协同覆盖问题,在连通性和覆盖性两个主要约束的条件下,设计了一种集中式的多无人机协同覆盖路径规划算法,从而实现最小化无人机编队的移动距离的目标。我们首先对矩形区域进行网格化处理建立系统模型,之后采用集中式的方式控制无人机的移动路径。理论分析显示算法的结果始终在最优解的2倍之内。实验结果进一步验证了算法具有优秀的性能。
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Multi-UAV Cooperative Path Planning for Covering Rectangle Area
Abstract:UAV is widely used in various fields, the main limitation is energy consumption and communication distance. In order to solve the increasingly complex tasks,UAV fleet uses coordinated way to improve the efficiency in completing tasks. In this paper, we study the UAV fleet planning problem with coverage and connectivity constraints to minimize the moving distance of the UAV formation on covering a rectangle area. We first built the system model with girding, then control the UAV movement in a centralized way. Theoretical analysis shows that tMulti-UAV Cooperative Path Planning for Covering Rectangle Areahe moving distance of the UAV fleet is less than two times of the optimal solution. Simulation results validate the efficiency of the algorithm.
Keywords: algorithm theory multi-UAV cooperative coverage path planning coverage connectivity
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