Survey on Coverage Path Planning with Unmanned Aerial Vehicles

综述无人机的覆盖路径规划，即规划能够对整个区域进行成像或测量的路径。文章按区域形状（矩形、凸形、凹形、不规则、含禁飞区）和分解方式（无分解、精确单元分解、近似网格分解）对方法进行分类。往返式和螺旋式等模式在路径长度、时间、转弯次数和能耗上进行了比较，其中转弯和风被指出是主要的能耗来源。

主要发现

• Multirotor endurance around 20-25 minutes, so energy is the main constraint
• Minimising turns is a common proxy for saving time and energy
• Energy-aware spiral pattern beat energy-aware back-and-forth in simulation on 3,750 convex polygons and in real flights
• Optimal multi-UAV decomposition, allocation and coverage is NP-hard

局限

• Focus on 2D area coverage, not 3D structure inspection
• Many bio-inspired methods tested only in simulation
• Final sections of the page were truncated in the fetched copy