Coverage Path Planning For Multi-view SAR-UAV Observation System Under Energy Constraint

摘要

Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment and cost reduction. A swarm of UAVs equipped with synthetic aperture radar imaging equipment is well suited to meet the functional requirements of multi-view synthetic aperture radar imaging missions. However, to provide optimal paths for SAR-UAVs from the base station to cover target viewpoints in the mission area is of NP-hard computational complexity. In this work, the coverage path planning problem for multi-view SAR-UAV observation systems is studied. First, the coordinate of observation viewpoints is calculated based on the location of targets and base station under a brief geometric model. Then, the exact problem formulation is modeled in order to fully describe the solution space and search for optimal paths that provide maximum coverage rate for SAR-UAVs. Finally, an Adaptive Density Peak Clustering (ADPC) method is proposed to overcome the additional energy consumption due to the viewpoints being far away from the base station. The Particle Swarm Optimization (PSO) algorithm is introduced for optimal path generation. Experimental results demonstrate the effectiveness and computational efficiency of the proposed approach.