Multi-UAV cooperative coverage path planning in plateau and mountain environment

In the environment where the topography of the plateau and mountainous terrain fluctuates, it is necessary to develop an optimal inspection plan when using a group drone to carry out detection and reconnaissance missions in this area. The overall inspection program is divided into two phases: the global optimal route planning, which is based on the parallel search strategy, establishes a nonlinear programming model with the minimum and maximum detection width as the objective function. Then it finds the track and duration of the entire area with a single drone in the least number of turns;In the local planning stage, the search area is divided according to the initial position and endurance of the group drone. An integer programming model is established and the minimum number of drones required is obtained by using a genetic algorithm. A patrol scheme is formulated to complete the continuous inspection task. The final simulation results show that this method of trajectory planning is effective and efficient.