An Algorithm of Coverage Path Planning for UAV in Concave Polygon Area

Abstract

Coverage path planning technologies is of great significance for improving the efficiency and accuracy of UAV search. This paper proposes a area coverage path planning(CPP) algorithm for the concave polygon area, which aims to enable UAV to complete the coverage search of the specified area more efficiently. Firstly, the algorithm flow is given by dealing with concave points in concave polygon area and dividing the area by convex decomposition. Secondly, the traverse sequence of the subarea is given based on the minimum redundant path, and the covering traverse without omission of the area by UAV are discribed in detail. Finally, the correctness and effectiveness of the proposed algorithm are proved by simulation experiments.

Keywords

• |uav|area coverage|path planning|concave polygon|convex decomposition