A multi-UAVs cooperative coverage planning algorithm based on scanline assignment

To solve the problem of complex region segmentation and low computing efficiency in the multi-UAVs cooperative coverage planning task, the multi-UAVs cooperative coverage planning algorithm based on scanline assignment is proposed in this paper. Firstly, the scanline setting is designed according to the width of convex area and UAV field of view. Secondly, the scanline assignment algorithm based on sequential assignment and interval assignment is proposed, and the spiral search mode is introduced to reduce redundant search paths caused by large turning radius of UAV. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments, and this work provides a new approach for the study of multi-UAVs cooperative coverage planning problem.