Unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions

The invention discloses an unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions. The method comprises the following steps that firstly, target area geometrical center coordinates are calculated according to convex polygonal target area vertex coordinates; then, according to the area vertex coordinates, the geometrical center coordinates, unmanned aerial vehicle absolute position measurement values, and relative position measurement values of unmanned aerial vehicles relative to nearby unmanned aerial vehicles, virtual attraction and repulsion functions are calculated; finally, by judging whether the unmanned aerial vehicles enter a target area or not, decision-making unmanned aerial vehicles adopt different movement rules, and it is achieved that unmanned aerial vehicle clusters continuously cover the area. By adopting the method, the unmanned aerial vehicle clusters can continuously cover any convex polygonal area, and unmanned aerial vehicles are uniform