A progressive region equalization algorithm for rasterized map
In reality,when conducting full-coverage operation for unknown areas beyond the range of a single UAV,the area needs to be reasonably divided so that multiple UAVs can collaborate for full-area operation.Applying the raster method to plan the operation area is one of the common research methods for region reconnaissance.In order to solve the problem of equal division of raster maps,a progressive region equalization algorithm for raster maps is proposed in this paper.The algorithm is generally divided into four stages:at the first stage,a jump iteration method is used to confirm the region boundary,and the raster features are identified according to the characteristics of the raster.At the second stage,a double feature identification method is proposed to improve the ray method to determine the internal raster of the region.At the third stage,neighboring edge diffusion method is proposed to achieve the initial diffusion partitioning of the region by mimicking water wave diffusion.At the fourth stage,the compensation rules are designed to compensate the number of grids in each subregion by the neighboring edge compensation algorithm.The final regional homogeneous effect is obtained after the above-mentioned optimization-seeking process.The experiment proves that the equalization algorithm proposed in this paper has better aggregation,continuity and uniformity compared with other algorithms,which provides a theoretical guarantee for multi-UAV cooperative full-area operation.
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