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针对多UAV对未知区域的协同覆盖侦察问题,提出了将STC算法与在线局部调整策略相结合的区域覆盖侦察方法。通过建立无重叠覆盖区域的闭合路径,最小化了重复侦察区域,缩短了任务执行时间;通过在线局部调整保证了只要有一架UAV不出现故障,侦察任务就可以正常进行。仿真结果表明,该方法能够有效解决多UAV协同区域覆盖侦察问题,方法简单并具备较高的鲁棒性。
Aiming at the problem of coordinated coverage detection in unknown area by multi-UAV, an area coverage reconnaissance method combining STC algorithm and online local adjustment strategy is proposed. By establishing a closed path without overlapping coverage areas, the reconnaissance area is minimized and the task execution time is shortened. The on-line local adjustment ensures that the reconnaissance task can be performed normally only when one UAV fails. The simulation results show that this method can effectively solve the problem of coverage reconnaissance in multi-UAV cooperative area. The method is simple and has high robustness.