面向飞机表面视觉检查的无人机覆盖路径规划

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中图分类号：V37 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.04.17

Abstract：In order to eficiently plan the flight paths for unmanned aerial vehicle（UAV）conducting visual inspection tasks on aircraft surface，a coverage path planning algorithm is proposed by using an adaptive hybrid sampling strategy，which involves viewpoint generation，viewpoint selection，and coverage path planning to determine the optimal inspection path for UAV. Firstly，optimal line-of-sight sampling and adaptive supplementary sampling are performed based on the aircraft model to be inspected to generate a redundant set of viewpoints. Secondly，a heuristic graph search algorithm based on dynamic weighting is adopted to search and select a set of effective viewpoints to ofer incremental coverage.Finally，a path collsion detection module is designed in the original Lin-Kernighan heuristic（LKH） algorithmand the improved LKH algorithm is used to solve UAV colisionless inspection path.Simulation experimental results demonstrate that the proposed method achieves max aircraft surface coverage rates of 93.44% and 96.44% of the aircraft inspection paths planned in two different scenarios，which outperforms other comparative algorithms in terms of path length，number of viewpoints，and algorithmic time consumption.

Keywords：aircraft surface inspection；coverage path planning；adaptive hybrid sampling；graph search algorithm；unmanned aerial vehicle（UAV）

0 引言

内容，传统的飞机表面安全检查以人工目视检查方法为主，存在目视检查效果差、检查周期长、漏检率高等缺点[1-4]。（剩余14679字）