The coverage search route planning method of unmanned aerial vehicle (UAV) plays an important role in improving the ability of reconnaissance and surveillance, information acquisition and endurance. When the search area is a convex polygon, the usage of the traditional algorithm can help to calculate the width of search area rapidly and accurately, and find the corresponding support parallel line direction. If UAV flies straight along the support parallel line direction, the number of turns will be the least, so the path of coverage search can be the shortest. However, the relationship between minimum turning radius and the width of sensor detection area is not considered in traditional planning algorithm. When the minimum turning radius of UAV become larger, there will be gaps between the routes, then it can’t completely cover the detection area. In order to solve the problem, a U-turn method is proposed in this paper, and the traditional planning algorithm has been improved. Finally, the effectiveness of the improved algorithm is verified by the simulation experiment.
An Improved UAV Coverage Search Route Planning Method
01.08.2018
466451 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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