Unit Circles Decomposition-based Coverage Path Planning for UAV
Hanyu Qian, Li Huang, Xiao Bing · 2022 34th Chinese Control and Decision Conference (CCDC) · 2022
In this paper, a coverage path planning (CPP) scheme for an unmanned aerial vehicle (UAV) in coverage observation is proposed. The algorithms begin by decomposing the task region into several unit circles. The positions of the unit circles are optimized by the improved Particle-Glowworm Swarm Optimization algorithm based on the area size of the unit circle and task region. Then the connection sequence of all unit circles is solved by the Traveling Salesman Problem (TSP) algorithm according to the shortest path principle. Further, the cubic Bézier curve is used to fit the centers of all unit circles to get a smooth coverage path. Finally, two curvature adjustment algorithms are proposed to optimize curvature. The main contribution of the paper is to present a scheme that generates a smooth coverage path while providing coverage optimization and path length optimization. Computer simulations validate the effectiveness of the algorithms.