多UAV协同区域覆盖侦察方法

摘要

针对多UAV对未知区域的协同覆盖侦察问题,提出了将STC算法与在线局部调整策略相结合的区域覆盖侦察方法.通过建立无重叠覆盖区域的闭合路径,最小化了重复侦察区域,缩短了任务执行时间;通过在线局部调整保证了只要有一架UAV不出现故障,侦察任务就可以正常进行.仿真结果表明,该方法能够有效解决多UAV协同区域覆盖侦察问题,方法简单并具备较高的鲁棒性.%Aiming to find a solution, the method of cooperative area coverage reconnaissance for Multi-UAV is proposed by combining the STC algorithm with an online partial adjustment strategy. Through the establishing of the closed route of non-overlapping coverage, repeating surveillance is minimized and task time shortened; online partial adjustment ensures that so long as one UAV does not break down, the reconnaissance mission can be normally carried out. The simulation results show that this method, simple yet with a high robustness, can effectively solve the problem of multi-UAV cooperative area coverage reconnaissance.