Research on Traffic Inspection Method in Urban Irregular Area Based on Multi-UAV

When multiple unmanned aerial vehicles (UAV) patrol urban traffic status, the complex road network, and high buildings lead to irregularities in the airspace above. In addition, the communication signals and positioning systems between multi-UAV are often easily blocked by buildings and plants. Traditional multi-UAV path planning algorithms cannot guarantee mission reliability. In this paper, we take the actual typical scene of urban environmental traffic inspection as an example and propose a distributed weak-sensing UAV swarm scanning coverage based on the action mechanism of neighboring members in the cluster, combined with the virtual artificial potential field method to constrain the consistent behavior system. This method can realize the adaptive scanning coverage of irregular areas by multi-UAV coordination under limited communication in the urban environment and avoid collisions between UAVs and buildings. It has a good application sweep coverage in urban traffic inspection in the future.