面向大飞机上表面视觉覆盖任务的无人机路径规划

doi:10.3778/j.issn.1002-8331.2403-0448

摘要/Abstract

摘要： 为高效执行大型飞机外表面损伤检查的三维视觉覆盖任务，提出了一种新颖的基于模糊聚类的无人机覆盖路径规划方法。该方法基于模糊聚类算法生成一系列满足视觉覆盖需求的候选视点，将视觉覆盖问题转换为组合优化问题并基于贪婪搜索算法求解出最优视点子集，采用遗传算法规划无人机遍历视点的最优路径；其中前两步的目的是完成视图规划，用于找到一组覆盖率足够高而数量尽量少的视点子集，最后一步用于规划无人机遍历视点的路径，提高巡检效率。实验结果表明，提出的方法与随机采样法相比，视点数量减少了16.55%，巡检路径长度缩短了4.28%，显著提升了覆盖和巡检效率。

关键词: 大飞机表面检测, 覆盖路径规划, 视觉覆盖, 组合优化, 无人机

Abstract: In order to efficiently perform the three-dimensional visual coverage task of large aircraft external surface damage inspection, a novel UAV coverage path planning method based on fuzzy clustering is proposed. This method first generates a series of candidate viewpoints that meet the visual coverage requirements based on the fuzzy clustering algorithm, then converts the visual coverage problem into a combinatorial optimization problem and solves the optimal viewpoint subset based on the greedy search algorithm, and finally uses a genetic algorithm to plan the UAV. The optimal path to traverse viewpoints; the purpose of the first two steps is to complete view planning and to find a set of viewpoint subsets with high enough coverage and as small a number as possible. The last step is used to plan the path for the UAV to traverse the viewpoints, improving inspection efficiency. Experimental results show that compared with the random sampling method, the proposed method reduces the number of viewpoints by 16.55%, shortens the inspection path length by 4.28%, and significantly improves coverage and inspection efficiency.

Key words: large aircraft surface inspection, coverage path planning, visual coverage, combinatorial optimization, unmanned aerial vehicle（UAV）

张二虎, 郑永帅, 杨朝栋, 刘国良, 田国会. 面向大飞机上表面视觉覆盖任务的无人机路径规划[J]. 计算机工程与应用, 2025, 61(12): 385-390.

ZHANG Erhu, ZHENG Yongshuai, YANG Chaodong, LIU Guoliang, TIAN Guohui. UAV Path Planning for Large Aircraft Upper Surface Visual Coverage Tasks[J]. Computer Engineering and Applications, 2025, 61(12): 385-390.

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