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Collaborative Area Coverage Method for UAV Swarm Under Complex Boundary Conditions:A Region Partitioning Approach 认领 引用
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作者 Jiabin Yu Haocun Wang +4 位作者 Bingyi Wang Yang Lu Xin Zhang Qian Sun Zhiyao Zhao 《Journal of Bionic Engineering》 SCIE EI CSCD 2026年第1期524-548,共25页
Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps oft... Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages. 展开更多
关键词 Complex boundaries UAV swarm Collaborative area coverage Map preprocessing Region partitioning
Scheduling optimization for UAV communication coverage using virtual force-based PSO model 认领 引用 被引量：2
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作者 Jianguo Sun Wenshan Wang +2 位作者 Sizhao Li Qingan Da Lei Chen 《Digital Communications and Networks》 SCIE CSCD 2024年第4期1103-1112,共10页
When the ground communication base stations in the target area are severely destroyed,the deployment of Unmanned Aerial Vehicle(UAV)ad hoc networks can provide people with temporary communication services.Therefore,it... When the ground communication base stations in the target area are severely destroyed,the deployment of Unmanned Aerial Vehicle(UAV)ad hoc networks can provide people with temporary communication services.Therefore,it is necessary to design a multi-UAVs cooperative control strategy to achieve better communication coverage and lower energy consumption.In this paper,we propose a multi-UAVs coverage model based on Adaptive Virtual Force-directed Particle Swarm Optimization(AVF-PSO)strategy.In particular,we first introduce the gravity model into the traditional Particle Swarm Optimization(PSO)algorithm so as to increase the probability of full coverage.Then,the energy consumption is included in the calculation of the fitness function so that maximum coverage and energy consumption can be balanced.Finally,in order to reduce the communication interference between UAVs,we design an adaptive lift control strategy based on the repulsion model to reduce the repeated coverage of multi-UAVs.Experimental results show that the proposed coverage strategy based on gravity model outperforms the existing state-of-the-art approaches.For example,in the target area of any size,the coverage rate and the repeated coverage rate of the proposed multi-UAVs scheduling are improved by 6.9–29.1%,and 2.0–56.1%,respectively.Moreover,the proposed scheduling algorithm is high adaptable to diverse execution environments.©2022 Published by Elsevier Ltd. 展开更多
关键词 Multi-UAVs Ad hoc network Area collaborative coverage Gravity model Swarm optimization algorithm Random topology
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