An Adaptive Multi-UAV Area Coverage Method

摘要

With the development of society, the advancement of UAV technology and the gradual opening of the low-altitude field, UAV area coverage technology has become a research topic of great practical significance. This paper studies the area cooperative coverage method under multi-UAV, solves the problem of long time and low efficiency under single UAV, proposes an area coverage path planning algorithm based on STC, and uses DARP algorithm for multi-robot tasks allocation, a UAV local obstacle avoidance algorithm is proposed to take the optimal candidate sector, so that the UAV can achieve autonomous coverage of the mission area. Finally, experiments show that the multi-UAV area coverage method can complete the area coverage task more efficiently and smoothly.