三维地形风场环境下无人机全覆盖路径规划

doi:10.12305/j.issn.1001-506X.2025.07.27

Abstract

Abstract:

A wind field terrain adaptive full coverage path planning algorithm is proposed to address the energy non-optimal problem faced by rotor unmanned aerial vehicle(UAV) using back-and-forth full coverage paths in three-dimensional terrain and wind field environment. Firstly, the environment is modeled using the grid method, and aerial waypoints are constructed based on the elevation data point information within the grid. Next, by analyzing the maneuvering actions and energy functions of the rotary wing UAV in the wind field environment, a wind model and energy consumption model of the UAV are constructed. Then, based on rolling optimization and global thinking, a fusion strategy of neighbor rolling probing and global prediction is proposed as the algorithm core to plan the UAV approximate optimal full coverage path that adapts to the wind field and undulating terrain energy. Finally, simulation experiments is conducted in different environments. The experimental results indicate the necessity of considering wind field and terrain, and compared to single reciprocating coverage, the proposed algorithm can adapt to environmental factors for planning, significantly reducing energy consumption during the full coverage process.

Key words: unmanned aerial vehicle (UAV), path planning, full coverage, wind field, three-dimensional terrain

CLC Number:

V279

Junchao TANG, Chunhe HU. Complete coverage path planning for UAVs in 3D terrain and wind field environment[J]. Systems Engineering and Electronics, 2025, 47(7): 2349-2356.

Figures/Tables 7

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Table 1

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环境风	算法	路径长度/m	平均功耗/W	能量消耗(×10⁴)/J	覆盖率/%
西风	单一往复式^[21]	1 130	232.7	4.381	100
	EG-CPP^[34]	1 126	292.7	4.864	100
	本文算法	1 130	232.7	4.381	100
西南风	单一往复式	1 130	423.2	7.119	100
	EG-CPP	1 331	299.3	6.366	100
	本文算法	1 324	297.8	6.320	100
南风	单一往复式	1 130	381.3	5.737	100
	EG-CPP	1 126	278.7	4.740	100
	本文算法	1 127	238.2	4.418	100
西北风	单一往复式	1 130	424.1	6.726	100
	EG-CPP	1 278	322.4	6.263	100
	本文算法	1 351	281.9	5.899	100

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Complete coverage path planning for UAVs in 3D terrain and wind field environment

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