Path Planning Scheme for Complete Coverage of UAV radar Survillance Areas using Reciprocation-Backfill Algorithm
Ting Gao Qin, Chen Li, Lei Liu, Jia Hao, Yun Zhu, Junkun Yan · 2021 International Conference on Control, Automation and Information Sciences (ICCAIS) · 2021
In order to accomplish the unmanned aerial vehicle search mission efficiently, this paper develops two complete coverage path planning models to collaborate with the A-star algorithm: the Backfill Reciprocation model and the L-shaped Reciprocation model. The key idea of the two models is to accelerate the searching process for either the unsearched area caused by obstacle avoidance or the new areas. Simulation results show that both models can complete the search mission with a lower repetition rate compared with the traditional Reciprocation model. Moreover, the Backfill Reciprocation model has the advantage of reducing the number of A-star algorithm usage times, while the L-shaped Reciprocation model observably decreases the average U-return times.