电子学报2025，Vol.53Issue(3)：705-715,11.DOI:10.12263/DZXB.20240258
基于时空密度聚类的异构无人机集群覆盖路径规划方法
Coverage Path Planning for Heterogeneous UAVs Based on Temporal-Spatial Density Clustering
摘要
Abstract
Coverage path planning is one of the key technologies for unmanned aerial vehicle(UAV)swarms in per-forming the exploration missions such as search and rescue.However,the current research often focuses on the design and optimization of flight paths in a single region,without taking into account quantitatively the effect of UAV capability on re-gion division and start and end point selection in multi-region environment.Meanwhile,most of the existing methods use homogeneous UAV swarms to perform the coverage path planning task,ignoring the ability differences among the UAVs,resulting in a low utilization ratio of swarm resources and much difficulty in adapting to the uncertain changes of tasks and environments.This paper focuses on the coverage path planning problem of heterogeneous UAVs on multiple regions.First,by modeling the heterogeneous UAVs and analyzing the road and energy constraints of the path planning problem,we pro-pose an exact formulation based on mixed integer linear programming to completely search the solution space and to find the best flight roads for UAVs.Then we present an efficient path planning algorithm based on temporal-spatial density clus-tering to improve the solving efficiency of the coverage path planning problem.The proposed algorithm groups regions ac-cording to their densities in time and space,allocates a reasonable group to each UAV,and optimizes the visiting orders of regions and the scan paths in regions,ensuring that the coverage task would be finished effectively.Experimental results show that the proposed method will provide reasonable flight paths for UAVs,and the total flight length and the task com-pletion time can be reduced by 10.55%and 5.47%,respectively.关键词
覆盖路径规划/异构无人机集群/时空密度/密度聚类/混合整数线性规划Key words
coverage path planning/heterogeneous unmanned aerial vehicle swarms/temporal-spatial density/densi-ty-based clustering/mixed integer linear programming分类
信息技术与安全科学引用本文复制引用
陈进朝,王洋,张营,尤涛,卢岩涛,杜承烈..基于时空密度聚类的异构无人机集群覆盖路径规划方法[J].电子学报,2025,53(3):705-715,11.基金项目
国家自然科学基金(No.62106202) （No.62106202）
陕西省重点研发计划项目(No.2024GX-YBXM-118) （No.2024GX-YBXM-118）
航空科学基金(No.2023M073053003) National Natural Science Foundation of China(No.62106202) （No.2023M073053003）
Key Research and Development Program of Shaanxi Province(No.2024GX-YBXM-118) （No.2024GX-YBXM-118）
Aeronautical Science Foundation of China(No.2023M073053003) （No.2023M073053003）
