Clustering-based hyper-heuristic algorithm for multi-region coverage path planning of heterogeneous UAVs

In the context of multi-heterogeneous UAV coverage path planning, an effective solution method has been proposed. Firstly, regions are set up as fully connected graphs which are cut into multiple subgraphs by spectral clustering method to assign tasks to multi-heterogeneous UAVs. Additionally, an RL-based hyper-heuristic algorithm is proposed. Heuristic space is parameterized by GNN which is trained with the reward provided by the optimization goal to automate design and enhance the heuristic metrics, avoiding the inefficiency and suboptimality of expert design and manual parameter tuning. Compared with existing methods, the proposed algorithm has a better performance in task completion time, execution time and deviation rate, which shows its potential application in the coverage path planning problem of multi-heterogeneous UAVs.