Research on Road-Network Traversal of Fixed-Wing Multi-UAV in Urban Environment

Road-network plays an important role in urban environment, so the reconnaissance along it should be attached much attention. However, the complexity of the road-network brings a lot of difficulties. In this paper, considering the constraints of road-network adjacent relationship and turn radius of fixed-wing UAV, we defined the problem model, including the road-network model with the description for different kinds of nodes. For road-network traversal problem, this paper proposed a method using improved depth-first search with angle constraint (DFS-AC) and genetic algorithm with double chromosome. The simulation results show that this method is able to solve road-network traversal problem both with and without infeasible nodes, at which fixed-wing UAV has no road to fly along.