关键词: 无人机, 三维全覆盖路径规划, 复杂环境, 摆脱死区策略, 地图重构策略

Abstract: To solve the problem of rapid three-dimensional full coverage path planning of Unmanned Aerial Vehicle (UAV) in complex practical environment,a three-dimensional full coverage path planning algorithm of UAV was proposed.The two-dimensional full coverage path planning was composed of global motion strategy,local motion strategy and getting rid of dead zone strategy.In the global motion strategy,the marking function was improved and the sub layer starting point dynamic search strategy was proposed.The getting rid of dead zone strategy was composed of A* algorithm and improved ring search algorithm.The three-dimensional full coverage path planning consisted of hierarchical planning strategy,map reconstruction strategy and inter layer connection strategy,and the hierarchical planning strategy divided the three-dimensional into two-dimensional environments with different interval heights.The map reconstruction strategy constructed the two-dimensional dynamic map,and the inter layer connection strategy determined the traversal starting point of the next layer from the traversal end point of the first layer.The simulation results showed that compared with the traditional single loop search method to get rid of the dead zone strategy,the path length was shortened by 2.7% and the path repetition rate was reduced by 3%.Compared with no local motion strategy,the path length was shortened by 14.2%,the total number of dead points and path repetition rate were reduced by 32.9% and 4.4%,and the running time was reduced by 6.7s.In three-dimensional full coverage path planning,compared with no map reconstruction strategy,the path length was shortened by 27.33%,the number of dead points was reduced by 16.82%,the running time was reduced by 70.8s,and the path repetition rate was reduced by 7%.The parameter analysis was carried out to obtain the parameter value when the algorithm had the best performance.The proposed algorithm could adapt to complex environment,effectively reduced the number of dead points,quickly planed the full coverage path,reduced the path repetition rate,and had good robustness.

Key words: unmanned aerial vehicle, three dimensional full coverage path planning, complex disaster environment, strategy of getting rid of dead zone, map reconstruction strategy