Düzlemsel Olmayan
İnsansız Araçlarla Düzlemsel Olmayan Araçların Taranması
摘要：
用无人驾驶车辆进行区域覆盖的重要性，换句话说，用无人驾驶车辆（诸如机器人或UAV）以最小成本完全或部分地行进区域的重要性，随着当今这种车辆的使用的增加而增加。无人驾驶车辆的区域覆盖如今用于无人驾驶车辆区域的探索，机器人扫雷，大型购物中心机器人清洁地面，大面积修剪草坪等。该问题有多种版本，例如单个无人驾驶车辆的区域覆盖，多个无人驾驶车辆的区域覆盖，利用无人驾驶车辆等进行在线区域覆盖（在开始覆盖之前不知道将被覆盖的区域的地图）。此外，该区域可能具有车辆无法移动的障碍物。自然，许多研究工作的问题，并已做了大量的研究，直到今天的问题。生成树覆盖是解决这一问题的主要方法之一。在这种方法中，在基本水平上，平面区域被划分为相同的正方形，根据车辆的视线范围，这些正方形的中心被假定为图的顶点。该图的顶点与具有单位成本的边连接，并且在找到图的最小生成树之后，车辆围绕生成树漫游。我们提出的方法提出了一种方法来覆盖非平面区域与无人驾驶车辆。我们提出的方法也利用了生成树覆盖方法，但不是将单位成本分配给边缘，而是使用边缘连接的顶点之间的斜率为每个边缘分配权重。我们得到的结果明显好于我们得到的结果时，我们没有考虑两个平方之间的斜率，并使用经典的生成树方法。
英文摘要：
The importance of area coverage with unmanned vehicles, in other words, traveling an area with an unmanned vehicle such as a robot or a UAV completely or partially with minimum cost, is increasing with the increase in usage of such vehicles today. Area coverage with unmanned vehicles is used today in the exploration of an area with UAVs, sweeping mines with robots, cleaning ground with robots in large shopping malls, mowing lawn in a large area etc. The problem has versions such as area coverage with a single unmanned vehicle, area coverage with multiple unmanned vehicles, on-line area coverage (The map of the area that will be covered is not known before starting the coverage) with unmanned vehicles etc. In addition, the area may have obstacles that the vehicles cannot move over. Naturally, many researches are working on the problem and a lot of researches have been done on the problem until today. Spanning tree coverage is one of the major approaches to the problem. In this approach, at the basic level, the planar area is divided into identical squares according to the range of sight of the vehicle, and centers of these squares are assumed to be vertexes of a graph. The vertexes of this graph are connected with the edges with unit costs and after finding the minimum spanning tree of the graph, the vehicle strolls around the spanning tree. The method we propose suggests a way to cover a non-planar area with unmanned vehicles. The method we propose also takes advantage of the spanning-tree coverage approach, but instead of assigning unit costs to the edges, we assigned a weight to each edge using slopes between vertexes those the edges connect. We have gotten noticeably better results than the results we got when we did not consider the slope between two squares and used the classical spanning tree approach.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
