Balanced Route Planning of Multi-UAV for Forest Cover Reconnaissance

Aiming at the problem of forest coverage reconnaissance route planning with irregular shape, a multi-UAV balanced route planning method is proposed: firstly, a geometric model is established according to the environmental information, and the sub regions are evenly divided by using the geometric division method. The problem is transformed into a single UAV optimization problem to reduce the computational complexity; Then, the minimum spanning tree method is used to construct the reconnaissance route, and the total mileage of each UAV route is calculated based on the starting position of the UAV, according to which the division of the optimized sub regions is modified to make the total mileage of each UAV route relatively balanced. Finally, the reconnaissance route of each UAV is constructed according to the modified sub regions. Compared with the existing coverage route planning methods, it is proved that this method has wide applicability, simple operation, and can better balance the load of each UAV to improve the utilization of the UAV fleet.