Research on region segmentation method of UAV cluster for electromagnetic target detection

Abstract

Aiming at the target search task, considering the existing problems of unreasonable initial distribution of UAVs and poor consistency of start and end time of swarm tasks in the existing coverage path planning algorithms, this paper designs an equal-time tendency region segmentation algorithm based on the initial scenario of realistic UAV cluster centralized deployment. The optimization goal of the algorithm is to minimize the maximum waiting time of individuals in the UAV swarm, and the task time of the UAV is affected by changing the size of the UAV search area. The algorithm has a secondary structure. The first level is the initial coarse segmentation, which solves the problem of too many iterations of boundary points. In the second level, the task time deviation value is used as the adjustment value to ensure the unity of task time. The simulation results show that the algorithm designed in this paper is more suitable for the scene of concentrated UAV delivery. The algorithm successfully reduces the task waiting time between UAV individuals. It facilitates the secondary scheduling of resources and the synchronous execution of multi-order tasks.

Keywords

• unmanned aerial vehicle cluster|target search|coverage path planning|region segmentation|concentrated delivery