Partition Coverage Planning Method Based on Adjustable Rectangular Decomposition for Airport Pavement

摘要

The complete coverage detection of airport pavement is one of the important tasks to ensure the safety of civil aviation. Due to the large coverage area of the airport and the rigid requirements for ultra-high security, humans and robots are required to interact when performing specific coverage detection tasks. Therefore, it is a challenge to divide the large airport environment into suitable working areas. In this paper, we propose a partition coverage planning method based on the adjustable rectangular decomposition environment. First, we use rectangles to decompose the environment into the initial working areas without obstacles, where the size of the rectangle can be adjusted according to the task requirements. Then we design the rules for optimizing the working areas so that the optimized working areas are more reasonable and can be directly used for coverage planning by the line scan method. Finally, simulation experiments show the effectiveness of the method.