一种凸多边形区域的无人机覆盖航迹规划算法

 覆盖航迹规划技术对于提高无人机的侦察能力和目标搜索能力具有重要的意义。首先从能量、路程、时间角度,理论上证明了转弯过程比直线平飞过程的效率低。其次给出了凸多边形跨度和宽度的定义,并把凸多边形区域的覆盖航迹规划问题转化为求凸多边形宽度的问题。最后证明了凸多边形区域的宽度只可能出现于“点边式”跨度之中,并给出了一种高效的“点边式”宽度算法。无人机只需要沿着宽度出现时的支撑平线方向飞行,即可以取得最少的转弯次数。通过仿真分析,证明了所提出的算法能够有效解决无人机在凸多边形区域中的覆盖航迹规划问题。

An Algorithm of Coverage Flight Path Planning for UAVs in Convex Polygon Areas

The coverage flight path planning is very important to enhance the UAV’s abilities of reconnaissance and target searching. From the viewpoints of energy, route length and duration, the turning motion is proved to be less efficient compared with the flat flying theoretically. The definitions of span and width for convex polygons are given, and the problem of coverage flight path planning in a convex polygon area is transformed to the width calculation of the convex polygon. A high performance vertex-edge algorithm to obtain the width of a convex polygon is given based on the theorem which proves that only vertex-edge pairs need to be considered in the computation of the width. If a UAV flies along the direction of parallel lines of support with the obtaining of width, the coverage path can get the least number of turns. Finally, a simulation is implemented and the result proves that the proposed algorithm can solve the problem of coverage flight path planning in a convex polygon efficiently.