Abstract: Unmanned aerial vehicles (UAVs) are widely utilized in area coverage tasks due to their flexibility and efficiency in geographic information acquisition. However, complex boundary conditions in actual water area maps often reduce coverageefficiency. To address this issue, this paper proposes a map preprocessing algorithm that linearizes boundary lines andprocesses concave areas into concave polygons, followed by gridding the map. Additionally, a collaborative area coveragemethod for UAV swarms is introduced based on region partitioning, which considers the comprehensive cost of energyconsumption and time. An improved Hungarian algorithm is utilized for region partitioning, and a Dubins-A*-based plowing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of eachpartition. Two sets of simulation experiments are conducted. The first experiment verifies the effectiveness of the mappreprocessing algorithm, and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.

Key words: Complex boundaries, UAV swarm, Collaborative area coverage, Map preprocessing, Region partitioning')">Complex boundaries, UAV swarm, Collaborative area coverage, Map preprocessing, Region partitioning