农机化研究2024，Vol.46Issue(6)：63-67,5.
基于粒子群优化的多无人机区域覆盖航迹规划
Path Planning of Multi-UAVs Area Coverage Based on Particle Swarm Optimization
摘要
Abstract
In order to solve the flight path planning problem of multi-replenishing-point multi-UAVs plant protection operation,a UAV environmental information model and operation area division based on Voronoi diagram were estab-lished,and a flight path planning algorithm based on particle swarm optimization(PSO)was proposed.Four factors in-cluding effective operation path,total path,total energy consumption and turn times were fully considered.Perform full coverage path planning for known areas.The simulation results show that PSO algorithm improves the effective operation rate by 2.55%compared with the traditional breakpoint continuation flight method.The total path,total energy consump-tion and comprehensive cost are reduced by 2.55%,3.45%and 1.04%respectively.Under the PSO algorithm,the ef-fective operation rate of plant protection UAV is higher,the invalid path is shorter,the energy consumption is lower,and the economic cost is reduced.关键词
多无人机/区域覆盖/路径规划/粒子群算法/Voronoi图Key words
multi-UAVs/area coverage/path planning/particle swarm optimization/Voronoi diagram分类
农业科技引用本文复制引用
赵玉花,石永康,万晓燕..基于粒子群优化的多无人机区域覆盖航迹规划[J].农机化研究,2024,46(6):63-67,5.基金项目
国家自然科学基金项目(51965056) （51965056）
自治区高校科研计划项目(61021800081) （61021800081）
自治区高层次人才项目(100400027) （100400027）
