火力与指挥控制2025，Vol.50Issue(2)：70-77,8.DOI:10.3969/j.issn.1002-0640.2025.02.010
面向影像拼接的多无人机覆盖搜索规划方法
Multi-Uav Area Coverage Plan Method for Image Stitching
摘要
Abstract
In order to realize the application requirements of wide area reconnaissance situational awareness,a multi-UAV area coverage plan method for image stitching is proposed.Firstly,the initial given mission area is converted into convex polygon region,and such coverage parameters as field of view size,aerial photography interval and flight strip interval are calculated based on the image stitching requirements.Then,the flight strip direction is determined by the convex polygon width,the total distance of mission and the flight distance of each UAV are pre-estimated,and the sub-areas of mission are assigned according to the estimated flight distance of each unmanned aerial vehicle(UAV).Lastly,the sequential flight points are cyclically extended and calculated by the intersection of the straight-line flight and the convex polygon,and the starting points of each UAV are determined through the estimated flight distance.The coverage search flight path of each UAV is planned.The coverage and search planning software of multiple UAVs is developed.The proposed multi-UAV coverage and search planning process is verified.The proposed whole process of area coverage method is verified.The experiment results show that according to the planning assignment of pre-estimated flight path,the flight distance of each UAV is similar,the turn numbers of each UAV are even,and the entire coverage and search mission can be rapidly and efficiently completed.关键词
无人机/覆盖搜索/任务分配/航迹规划Key words
unmanned aerial vehicles/coverage search/mission assignment/flight path planning分类
航空航天引用本文复制引用
郑锴,李明明,郑献民,殷少锋,丁学亮..面向影像拼接的多无人机覆盖搜索规划方法[J].火力与指挥控制,2025,50(2):70-77,8.基金项目
装备综合研究项目 （）
