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Decomposition and coverage of multi-UAV cooperative search area

YU Sinan;ZHOU Rui;XIA Jie;CHE Jun;Science and Technology on Aircraft Control Laboratory,Beijing University of Aeronautics and Astronautics;Automatic Flight Control Research Institute,AVIC;  
Coverage search of multi aircraft is a major task for unmanned aerial vehicle( UAV). After dividing the searching area,the problem turns into single UAV coverage search problem in each sub-area. This method will make the whole search problem simpler. The parallel searching strategy was analyzed in detail. Using the parallel searching strategy,the bases of determining the beginning point,turning key points and the ending point was given. This strategy enabled 100% coverage in the search area. The minimal turning radius impacts search path and different situations were discussed. The convex polygon search area was decomposed using a method based on the initial position and the percent of search area of each UAV. Based on the characteristic of UAV searching,the decomposition result was mainly assessed by the quantity of turning. The path from initial position to the search beginning point was discussed. Finally,the simulation result proves this method is feasible.
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