单侧区域分割的多无人机扫描线搜索方法研究

本文针对区域覆盖任务需求对多无人机搜索问题展开研究。首先,提出一种任意搜索区域的等面积单侧区域分割方法(Unilateral Region Segmentation)。然后,每个搜索区域分派一架或一个编队的无人机进行扫描线搜索,再基于人工势场法来规避障碍物或者威胁从而获得搜索路径。最后,进行仿真分析,验证了该算法在不同情况下的有效性、鲁棒性以及适应性。该算法在面向任意搜索区域、考虑无人机机动性以及存在威胁等问题时具有明显优势。

Research on Scanning Line Search Method for Multi-UAV Based on Unilateral Region Segmentation

Aiming at the requirement of area coverage task,the multi-UAV scanning line search task is researched.Firstly,an unilateral region segmentation for equal area(URSEA)method for arbitrary search region is proposed.Each search area is assigned one or a group of UAVs for scanning line search,and then obstacles or threats are evaded based on the artificial potential field method to obtain the search path.Finally,simulation analysis is carried out to verify the effectiveness,robustness and adaptability of the algorithm in different situations.The algorithm has obvious advantages when facing arbitrary search area,considering UAV maneuverability and threat.