农业机械学报2026，Vol.57Issue(3)：27-37,11.DOI:10.6041/j.issn.1000-1298.2026.03.003
基于双步构造策略的多无人机覆盖路径规划方法
Multi-UAV Coverage Path Planning Based on Two-step Construction Strategy
摘要
Abstract
Aiming at the challenges of high path planning complexity,complex regional boundaries,and idle aircraft resources faced by multi-UAVs in grasslands,fields,and other complex scenarios,an efficient and load-balanced multi-UAV coverage path planning framework was proposed.The framework consisted of two core elements:first,an innovative two-step construction strategy of"recursive decomposition-variable neighborhood simulated annealing algorithm".The strategy took the minimization of the total sub-polygon width as the stage goal,firstly,using the convex decomposition property of concave polygons to design the recursive decomposition method to minimize the width and localization,and then,embedding the recursive decomposition into the improved simulated annealing algorithm with variable neighborhood to achieve the width and global minimization.Secondly,a task assignment method based on UAV performance index,which calculated the performance index based on UAV speed and bypass spacing,assigned the operation area blocks accordingly and planned the multi-trip paths in combination with the range capability,aiming to equalize the task duration of each aircraft.Simulation experiments showed that the proposed two-step construction strategy can find the width and the global minimum convex decomposition scheme in all test cases,and the width were reduced by 9.072,5.169,and 2.869 percentage points,respectively,compared with the improved genetic algorithm in the test cases of 5、6、7 concave vertices;the coefficients of variation of the task duration obtained from the performance index-based task assignment method were as low as 4.02%～7.33%,which can effectively realize the equalization of task duration,effectively achieved mission duration equalization.关键词
多无人机覆盖路径规划/递归分解/变邻域模拟退火算法Key words
multi-UAV coverage path planning/recursive decomposition/variable neighborhood simulated annealing algorithm分类
信息技术与安全科学引用本文复制引用
陆健强,曹云娥,王量,王卫星,熊万杰,陈祖城,周正扬,童海洋,邹创威,吴龙国..基于双步构造策略的多无人机覆盖路径规划方法[J].农业机械学报,2026,57(3):27-37,11.基金项目
宁夏回族自治区重点研发计划项目重大专项(2025BBF01004)、广东省重点研发计划项目(2023B0202090001)、广州市重点研发计划项目(2023B0311392)、华南农业大学农业装备技术全国重点实验室开放基金项目(SKLAET-202412)和新质生产力产教融合创新课题(CSDP25LF8C428) （2025BBF01004）
