关键词: 多无人机, 区域分解, 区域覆盖, 航迹分配

Abstract: In order to solve the problem of low reconnaissance efficiency in the multiple unmanned aerial vehicles (multi-UAVs) perform area coverage mission, the UAV coverage track planning algorithm based on decomposition along the direction of perpendicular to the width of the area is proposed. Firstly, in order to complete the mission with as few turns as possible, the method of decomposition along the direction of perpendicular to the width of the area is proposed. Then, considering the problem of uneven resource allocation due to the mismatch between the number of operators and the number of UAVs in actual operation, the decomposition method is used to decompose the mission area into sub-track sets to be covered. A mixed integer linear programming model with time cost as the objective function is established to dynamically distribute the sub-tracks according to the number of operators and the number of UAVs, so as to improve the coverage efficiency. Finally, the validity of the algorithm is verified by simulation experiments.

Key words: multiple unmanned aerial vehicles (multi-UAVs), area decomposition, area coverage, track assignment