Research on the coverage path planning of UAVs for polygon areas

Abstract

This paper proposes an improved method of exact cellular decomposition to plan the coverage path in polygon area. Firstly, the problem of Coverage Path Planning (CPP) in the convex polygon area is transformed to the width calculation of the convex polygon, and the strategy of flying along the vertical direction of width is presented to reach the least number of turns. Secondly, a convex decomposition algorithm of minimum width sum based on the greedy recursive method is presented to decompose the concave area into some convex subregions. Finally, a subregion connection algorithm based on minimum traversal of undirected graph is proposed to connect the coverage paths of the subregions. The simulation shows that the proposed method is feasible and effective.