Aiming at the wide area collaborative coverage search problem of unmanned aerial vehicle(UAV)swarms,an optimization algorithm for search based on minimum circle coverage technology is studied from environment modeling,task allocation and path planning.Firstly,environment model-ing with minimum circle coverage of the search area is carried out,and the task area is described,tak-ing the center of coverage circles as the key points.Then,adopting a search strategy combining the spiral method with the template method,global path planning is carried out by traversing the key points along the search path.Next,considering the difference on energy consumption between straight flight and turning flight of UAVs,the total task of the UAV swarm is converted into the total energy consumption of the path.The task and path allocation problem of the drone swarm is solved based on the average of the total energy consumption.Thus,a comprehensive solution is formed.Finally,aim-ing at the search area like a circle or an irregular convex polygon,the simulation calculation is conduct-ed,and its efficiency is compared with the parallel search method.Result shows that the algorithm is effect and more superior.
关键词
多无人机/覆盖搜索/协同搜索/最小圆覆盖/环境建模/航迹规划/任务分配
Key words
multi unmanned aerial vehicles(UAVs)/coverage search/collaborative search/mini-mum circle coverage/environment modeling/route planning/task allocation
维普
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