三維地形風場環(huán)境下無人機全覆蓋路徑規(guī)劃

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中圖分類號：V279 文獻標志碼：A DOI：10.12305/j.issn.1001-506X.2025.07.27

Abstract：A wind field terrin adaptive full coverage path planning algorithm is proposed to address the energy non-optimal problem faced by rotor unmanned aerial vehicle（UAV）using back-and-forth full coverage paths inthree-dimensional terrain and wind field environment.Firstly，the environment is modeledusing the grid method，and aerial waypoints are constructed based on the elevation data point information within the grid. Next，by analyzing the maneuvering actions and energy functions of the rotary wing UAV in the wind field environment， a wind model and energy consumption model of the UAV are constructed. Then，based on rolling optimization and global thinking，a fusion strategy of neighbor roling probing and global prediction is proposed as the algorithm core to plan the UAV approximate optimal fullcoverage path that adapts to the wind field and undulating terrain energy.Finally，simulation experiments is conducted in diferent environments. The experimental results indicate the necessity of considering wind field and terrain，and compared to single reciprocating coverage，the proposed algorithm can adapt to environmental factors for planning，significantly reducing energy consumption during the full coverage process.

Keywords：unmanned aerial vehicle （UAV）； path planning； full coverage； wind field； three-dimensional terrain

0 引言

無人機被廣泛應用在一些以往需要消耗較多人力物力的場景中，例如區(qū)域巡防、攝影測量、智慧農業(yè)、災害監(jiān)測等等[1-4]。（剩余15421字）