关键词: 无人机, 三维全覆盖路径规划, 复杂环境, 摆脱死区策略, 地图重构策略

Abstract: In order to solve the problem of rapid three-dimensional full coverage path planning of UAV in complex practical environment,a three-dimensional full coverage path planning algorithm of UAV is proposed.Firstly,the two-dimensional full coverage path planning is composed of global motion strategy,local motion strategy and getting rid of dead zone strategy.In the global motion strategy,the marking function is improved and the sub layer starting point dynamic search strategy is proposed.The getting rid of dead zone strategy is composed of A * algorithm and improved ring search algorithm;The three-dimensional full coverage path planning consists of hierarchical planning strategy,map reconstruction strategy and inter layer connection strategy.The hierarchical planning strategy divides the three-dimensional into two-dimensional environments with different interval heights.The map reconstruction strategy constructs the two-dimensional dynamic map.The inter layer connection strategy determines the traversal starting point of the next layer from the traversal end point of the first layer.The simulation results show that compared with the traditional single loop search method to get rid of the dead zone strategy,the path length is shortened by 2.7% and the path repetition rate is reduced by 3%;Compared with no local motion strategy,the path length is shortened by 14.2%,the total number of dead points and path repetition rate are reduced by 32.9% and 4.4%,and the running time is reduced by 6.7s;In three-dimensional full coverage path planning,compared with no map reconstruction strategy,the path length is shortened by 27.33%,the number of dead points is reduced by 16.82%,the running time is reduced by 70.8s,and the path repetition rate is reduced by 7%;Finally,the parameter analysis is carried out to obtain the parameter value when the algorithm has the best performance.To sum up,this algorithm can adapt to complex environment,effectively reduce the number of dead points,quickly plan the full coverage path,reduce the path repetition rate,and has good robustness.

Key words: UAV, Three dimensional full coverage path planning, Complex disaster environment, Strategy of getting rid of dead zone, Map reconstruction strategy