Muiti-UAVs Area Decomposition and Coverage Based on Complete Region Coverage

摘要

Using unmanned aerial vehicles (UAVs) to collect data from sensors can improve the performance of the sensor network. If the locations of the sensors are unknown or the mobility of sensors is unpredictable, the UAVs should cover the area where the sensors are located. Area coverage involves two stages, including area decomposition into subareas and path planning inside the subareas. This paper proposes a multi-UAVs area decomposition coverage method based on complete region coverage, referred to ADCCRC. First, the target area is transformed into honeycomb and the centers of the cells constitute a connected graph, so area decomposition is transformed into the problem of dividing the connected graph into sub-connected graphs. Then, find a Hamiltonian cycle inside the sub-connected graph as each UAVs path. The algorithm also has the advantage that the subarea can be combined with UAVs' capabilities assessment.