基于改进人工势场方法的无人机覆盖航路规划算法研究

Research on UAV Coverage Path Planning Algorithm Based on Improved Artificial Potential Field Method

摘要: 无人机覆盖航路规划要求无人机的航路探测区域能够覆盖整个任务区域，该技术在现实中的应用越来越广泛，需求也越来越多样。传统的人工势场方法在生成覆盖航路的时候，有一些现实中好用的模式无法生成，为此我们引入了种子的概念，利用种子的多样性达到势场生成多样性的目的。计算实验表明，我们提出的改进人工势场法生成模式更多、效果更优、样式更加丰富，更能满足现实应用对覆盖航路多元化的需求。

Abstract: The problem of coverage path planning for UAV requires that the route detection area of UAV can cover the whole mission area, which is more and more widely applied in reality and has more and more diverse requirements. When the traditional artificial potential field method is used to gen-erate covered airway, there are some useful models that cannot be generated in reality. Therefore, we introduce the concept of seeds and use the diversity of seeds to achieve the purpose of gener-ating diversity of potential field. Computational experiments show that the improved artificial potential field method can generate more patterns, achieve better effects and have more diversified styles, which can better meet the needs of practical applications for covering diverse routes.