.png){kind=icon}
返回
Coverage Path Planning for UAV Based on Improved Back-and-Forth Mode
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2023.3325483.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In the field of aerial photography, complete coverage path planning (CCPP) is the key to improving the task efficiency of unmanned aerial vehicles (UAVs) with a limited battery capacity. Previous CCPP algorithms consisted of Cellular Decomposition (CD) class, Probabilistic Roadmap (PRM) class, and Bio-inspired Neural Network (BINN) class. However, when faced with the complex environment of multiple forbidden areas, CD and PRM have high computational complexity and a long path length, and BINN has a large number of turns. In this paper, an improved back-and-forth (IBF) algorithm is proposed to achieve good performance in these three aspects at the same time based on a newly straight-turn mode and the corresponding auxiliary approaches (i.e. Local Traversal, Global Traversal, and continuity constraint function). An important difference between straight-turn mode and back-and-forth mode is that the next straight direction is not restricted to being parallel to the last straight direction but is determined by Local Traversal, which is introduced to evaluate the benefits of different paths and find the best direction for the next straight-turn mode at the ending cell. Global Traversal is available to choose a jump cell when Dead zone are faced. The continuity constraint function is used to maintain the continuity of the unexplored area. Under the comprehensive consideration of path length, computation time, and number of turns, the simulation and experimental results indicate that the proposed IBF algorithm has better performance in multiple forbidden areas.
Keyword:
Complete coverage path planning
optimal path
straight-turn mode
unmanned aerial vehicle (UAV)
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
机构
引用论文
Nano-sized LaMnO3 powders prepared by spray pyrolysis from spray solution containing citric acid从含柠檬酸的喷雾溶液中通过喷雾热解制备纳米LaMnO3粉末
OAAI
OAAI分享收藏Does it take older adults longer than younger adults to perceptually segregate a speech target from a background masker?在感知上将语音目标与背景掩蔽器隔离开来是否需要老年人比年轻人更长的时间？
PREAI
分享收藏DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path PlanningDARP: 多机器人最优覆盖路径规划的区域划分算法OAAI
OAAI分享收藏Comparative study of thermally conductive fillers in underfill for the electronic components电子元件底层填料中导热填料的比较研究
PREAI
分享收藏Guanidine-based polycarbonate hydrogels: from metal-free ring-opening polymerization to reversible self-assembling properties.png)
Soft Matter
Soft MatterIF0
PREAI
分享收藏
查看更多内容