A First Approach to Path Planning Coverage with Multi-UAVs

• Alfredo Pintado ^[2] ; Matilde Santos ^[1]
  1. [1] Universidad Complutense de Madrid

     Universidad Complutense de Madrid

     Madrid, España

     
  2. [2] Canal de Isabel II (Madrid)
• Localización: 15th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2020): Burgos, Spain ; September 2020 / coord. por Álvaro Herrero Cosío, Carlos Cambra Baseca, Daniel Urda Muñoz, Javier Sedano Franco, Héctor Quintián Pardo, Emilio Santiago Corchado Rodríguez, 2021, ISBN 978-3-030-57802-2, págs. 667-677
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • In this paper, a multi-UAV system is applied to explore a searching area. The influence of the partition of the surface and the effects of varying the number of UAVs are analyzed. The covering of the area is based on small rectangular polygon area decomposition. Each sector is assigned to an UAV and efficient coverage algorithms are applied. The UAV follows a zig-zag navigation strategy to go through the way-points located at the center of the cells of the corresponding area. The performance of the multi-UAV system is discussed for different scenarios. Simulation results in terms of travel time are presented.