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In addressing the issue of inefficient voyages resulting from large turning radii during the coverage path planning of multiple fixed-wing UAVs over convex polygonal regions, this study employs the sweep line method and the Dubins path to compute the entry path, working path, and transition path for area coverage. It establishes the Multiple Traveling Salesman Problem (MTSP) model for UAV path transfer and introduces an enhanced ant colony algorithm tailored for dynamic distance matrices. This algorithm can minimize the total path length while also taking into account the task completion time. The effectiveness of this method was verified through two sets of simulations. Comparative experimental results show that the total path length of this method is better than the Boustrophedon algorithm. Additionally, the solution quality and stability are better than the GA algorithm.

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Multi-fixed-Wing UAV Coverage Path Planning Based on Improved ACO Algorithm

  • 会议论文

  • 发表日期：

    2025年

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  • Chaoyue Li,
  • Mengyang Wang,
  • Gangwei Ding,
  • Dong Zhang,
  • Lin Li

摘要

In addressing the issue of inefficient voyages resulting from large turning radii during the coverage path planning of multiple fixed-wing UAVs over convex polygonal regions, this study employs the sweep line method and the Dubins path to compute the entry path, working path, and transition path for area coverage. It establishes the Multiple Traveling Salesman Problem (MTSP) model for UAV path transfer and introduces an enhanced ant colony algorithm tailored for dynamic distance matrices. This algorithm can minimize the total path length while also taking into account the task completion time. The effectiveness of this method was verified through two sets of simulations. Comparative experimental results show that the total path length of this method is better than the Boustrophedon algorithm. Additionally, the solution quality and stability are better than the GA algorithm.