Research on Coverage Method of UAV Based on Complex Boundary Area

UAV (Unmanned Aerial Vehicle) is commonly used for area coverage missions due to its flexibility and efficiency in geographic information collection. However, the task maps usually have complex boundaries when the UAV perform area coverage. It will result in an increase in invalid paths and the decrease in algorithm efficiency. In this paper, a map processing algorithm is proposed for complex boundary. We linearize the real map boundary, and the concave polygons are processed for specific non-convex areas in the map. Then we grid the Map. It reduces duplicate coverages in CPP (Coverage Path Planning problem). It effectively improves computational efficiency. Meanwhile, an improved area coverage algorithm combining A* and Boustrophedon algorithm is proposed. By constructing a comprehensive cost function for the UAV, the full coverage of the area is achieved while minimizing its comprehensive cost. Finally, the simulation experiments were performed. It validates the effectiveness of the method proposed.