| Citation: | WANG Q，WANG X Y，JIAO J，et al. Three-dimensional complete coverage flight path planning for high-altitude long-endurance solar-powered UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（8）：2735-2747 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0748
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Near-space solar-powered UAVs, characterized by their ultra-long endurance, can effectively solve the issue of insufficient endurance faced by traditional UAVs during missions. This paper proposed a three-dimensional (3D) path planning method for solar-powered UAVs based on “point to surface” coverage missions across large-scale spatiotemporal scenarios. Under the constraints of limited energy acquisition and conversion, the method maximized mission efficiency through reasonable distribution and scheduling of solar energy and gravitational potential energy. Based on the solar irradiance model and energy system model, a segmented energy management strategy was used to allocate and schedule the energy and divide the flight phases of the 24-hour mission cycle. The objective functions and boundary conditions of each phase were defined, and the Gauss pseudospectral method (GPM) was introduced to solve the multi-phase and multi-objective optimal control problem. The rotating calipers algorithm (RCA) was introduced to solve the full coverage path planning (CPP) problem of the convex polygon area. A multi-objective optimization was performed by combining the maximum solar irradiation path and the optimal coverage mission path, and the results were compared with the traditional CPP algorithm. The GPM and the RCA were combined to solve the 3D complete coverage flight path planning problem with energy and mission constraints. The simulation results show that, within the randomly generated convex polygon area, the proposed joint optimization method can increase the average solar irradiation power by 11.64% and reduce the complete coverage mission path by 10.9% while satisfying the day-night energy closed-loop of the solar-powered UAV, significantly improving the mission efficiency of solar-powered UAVs and maximizing the energy utilization.
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