An Improved Method for the UAV Coverage Path Planning
Rongtao Du, Tongzhou Zhao, Xin Y. Dong, Rui Zhu · 2022
In UAV (Unmanned Aerial Vehicles) region detecting applications, the coverage path planning is very important for improving the searching efficiency due to the limitation of UAV’s flying endurance range. In this paper, we proposed an improved method for the UAV Coverage Path Planning, based on the tight-envelope algorithms to generate optimal coverage areas with no detecting region missed. Firstly, we used the Jarvis step algorithm to convexly envelop the target location. Then, an improved tight envelope algorithm was used to remove the invalid search area to form a concave search area. Finally, we used a concave-convexity adaptative algorithm to generate the UAV search path. In the simulation experiments with different threshold values, the feasibility and effectiveness of the algorithm were proved.