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UAV swarm collaborative coverage control using GV division and planning algorithm

Published online by Cambridge University Press:  28 September 2022

H. Y. Liu Open the ORCID record for H. Y. Liu [Opens in a new window] ,
J. Chen Open the ORCID record for J. Chen [Opens in a new window] ,
K. H. Huang ,
G. Q. Cheng  and
R. Wang
H. Y. Liu*
Affiliation:
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, China Nanjing Center for Applied Mathematics, Nanjing, China
J. Chen
Affiliation:
Xi’an Electronic Engineering Research Institute, Xi’an, China
K. H. Huang
Affiliation:
College of System Engineering, National University of Defense Technology, Changsha, China
G. Q. Cheng
Affiliation:
College of System Engineering, National University of Defense Technology, Changsha, China
R. Wang
Affiliation:
College of System Engineering, National University of Defense Technology, Changsha, China
*
*Corresponding author. Email: liuhaiying@nuaa.edu.cn
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Abstract

Unmanned aerial vehicle (UAV) swarm coverage is one of the key technologies for multi-UAV cooperation, which plays an important role in collaborative investigation, detection, rescue and other applications. Aiming at the coverage optimisation problem of UAV in the target area, a collaborative visual coverage control method under positioning uncertainty is presented. First, the visual perception area with imprecise localisation, UAV model and sensor model are created based on the given task environment. Second, a regional division algorithm for the target task area is designed based on the principle of Guaranteed Voronoi (GV) diagram. Then a visual area coverage planning algorithm is designed, in which the task area is allocated to the UAV according to the corresponding weight coefficient of each area, and the input control law is adjusted by the expected state information of the UAV, so that the optimal coverage quality target value and the maximum coverage of the target area can be achieved. Finally, three task scenarios for regional division and coverage planning are simulated respectively, the results show that the proposed area coverage planning algorithm can realise the optimal regional distribution and can obtain more than 90% coverage in different scenarios.

Keywords

UAV swarmArea coverage controlGuaranteed Voronoi divisionArea coverage planning algorithm
Type
Research Article
Information
The Aeronautical Journal , Volume 127 , Issue 1309 , March 2023 , pp. 446 - 465
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Copyright
© The Author(s), 2022. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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