Alogrithm Design Of Multi-uav Cooperative Coverage Path Planning

With the development of UAV technologies,UAVs have been applied to complete various scanning/coverage tasks.In order to improve the efficiency of these tasks,this work studies the multi-UAV cooperative strategies to reduce the travel distance in scanning the target points.In this paper,we study three different kind of coverage problems based on multi-UAV cooperative strategies.We first study the problem of multi-UAV cooperative coverage path planning for rectangular area.After gridding for pre-processing this problem,we design a centralized algorithm RCA by strictly restricting the movement mode of UAV,which produces a travel distance within 2 times of the optimal solution.Then,to improve the centralized algorithm,the corresponding distributed algorithm RDA is designed by using the specified rules.We extend this distributed algorithm to the polygon region,and get the distributed coverage algorithm PDA.Finally,we consider a more generalized scenario to scan target points discretely located in the area.We study the UAV fleet planning problem on how to scan discrete interest points on a plane using minimum travel distance.We first design fleet planning algorithm,CSA(Center-guided Scanning Algorithm),to minimize the travel distance of UAV fleet.Then,we further develop an improved algorithm PSA(Parallel-guided Scanning Algorithm)by refining the detailed scanning strategy of CSA.Simulation results show the efficiency of the proposed algorithms.