面向飞机表面巡检的多无人机覆盖路径规划

doi:10.12305/j.issn.1001-506X.2026.02.28

Abstract

Abstract:

In order to ensure the safety of aircraft flight and timely detection of potential defects, aircraft surface inspection has become particularly important. Traditional manual inspection has high labor cost and low efficiency, while automated inspection by unmanned aerial vehicles （UAVs） can greatly reduce the inspection cost and improve the inspection efficiency. In this paper, a multi-UAV coverage path planning scheme for aircraft surface inspection tasks is proposed with the aim of optimizing coverage and improving inspection efficiency. Combining the use of self-organizing map （Som） neural network and K-means algorithm, the three-dimensional point cloud model of the aircraft is divided into regions, and the UAV swarm coverage paths are planned by adding the path turning penalty term and collaborative constraints based on the gold rush optimizer （GRO） algorithm. Considering the energy consumption of UAV swarm, the path length and the completion time are shortened. Simulation results show that the proposed scheme achieves 99.98% in coverage rate and 74.6% in time reduction compared with a single aircraft.

Key words: aircraft surface inspection, unmanned aerial vehicles （UAVs）, path planning, multi-UAV collaboration

CLC Number:

TP 242

Shufeng LI, Luyu HAN. Multi-UAV coverage path planning for aircraft surface inspection[J]. Systems Engineering and Electronics, 2026, 48(2): 684-693.

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无人机参数	参数设置
探测角/（°）	60
分辨率/px	1280×720
帧率/fps	30

飞机划分区域	采样网格设置	视点数量	覆盖率/%
机身	1.2	215	100.00
左机翼	1.2	59	96.59
右机翼	1.2	59	96.59
尾翼	1.2	34	90.21

飞机划分区域	采样网格设置	视点数量	覆盖率/%
机身	1.2	215	100.00
左机翼	1.16	96	99.96
右机翼	1.16	96	99.96
尾翼	1.15	58	99.98

算法	路径长度
算法	3簇	4簇	5簇
Som	613.17	605.90	622.03
K-means	633.30	612.63	621.85
Som-K-means	610.67	593.89	620.66

算法	4架无人机总路径长度/m	急转弯数量/次
GRO	866.71	189
ACO	1008.72	202
SA	851.11	186
改进GRO	593.89	142

Multi-UAV coverage path planning for aircraft surface inspection

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4架无人机分配	路径长度/ m	时间容差/ min	完成时间/ min	能量消耗/ （J/m）
第1架	161.08	0.4	5.37	80.54
第2架	163.57	0.5	5.45	81.78
第3架	136.50	0.4	4.55	68.25
第4架	132.74	0.5	4.42	66.37

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