Multi UAV Coverage Path Planning in Urban Environments

Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural d...

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Autores principales:	Javier Muñoz, Blanca López, Fernando Quevedo, Concepción A. Monje, Santiago Garrido, Luis E. Moreno
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	UAVs coverage path planning path planning fast marching Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/a3bee9b8637241fe8bc460f79d742919
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id	oai:doaj.org-article:a3bee9b8637241fe8bc460f79d742919
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spelling	oai:doaj.org-article:a3bee9b8637241fe8bc460f79d7429192021-11-11T19:18:14ZMulti UAV Coverage Path Planning in Urban Environments10.3390/s212173651424-8220https://doaj.org/article/a3bee9b8637241fe8bc460f79d7429192021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7365https://doaj.org/toc/1424-8220Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim of this paper is to design efficient coverage path planning collision-avoidance capable algorithms for single or multi UAV systems in cluttered urban environments. Two algorithms are developed and explored: one of them plans paths to cover a target zone delimited by a given perimeter with predefined coverage height and bandwidth, using a boustrophedon flight pattern, while the other proposed algorithm follows a set of predefined viewpoints, calculating a smooth path that ensures that the UAVs pass over the objectives. Both algorithms have been developed for a scalable number of UAVs, which fly in a triangular deformable leader-follower formation with the leader at its front. In the case of an even number of UAVs, there is no leader at the front of the formation and a virtual leader is used to plan the paths of the followers. The presented algorithms also have collision avoidance capabilities, powered by the Fast Marching Square algorithm. These algorithms are tested in various simulated urban and cluttered environments, and they prove capable of providing safe and smooth paths for the UAV formation in urban environments.Javier MuñozBlanca LópezFernando QuevedoConcepción A. MonjeSantiago GarridoLuis E. MorenoMDPI AGarticleUAVscoverage path planningpath planningfast marchingChemical technologyTP1-1185ENSensors, Vol 21, Iss 7365, p 7365 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	UAVs coverage path planning path planning fast marching Chemical technology TP1-1185
spellingShingle	UAVs coverage path planning path planning fast marching Chemical technology TP1-1185 Javier Muñoz Blanca López Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno Multi UAV Coverage Path Planning in Urban Environments
description	Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim of this paper is to design efficient coverage path planning collision-avoidance capable algorithms for single or multi UAV systems in cluttered urban environments. Two algorithms are developed and explored: one of them plans paths to cover a target zone delimited by a given perimeter with predefined coverage height and bandwidth, using a boustrophedon flight pattern, while the other proposed algorithm follows a set of predefined viewpoints, calculating a smooth path that ensures that the UAVs pass over the objectives. Both algorithms have been developed for a scalable number of UAVs, which fly in a triangular deformable leader-follower formation with the leader at its front. In the case of an even number of UAVs, there is no leader at the front of the formation and a virtual leader is used to plan the paths of the followers. The presented algorithms also have collision avoidance capabilities, powered by the Fast Marching Square algorithm. These algorithms are tested in various simulated urban and cluttered environments, and they prove capable of providing safe and smooth paths for the UAV formation in urban environments.
format	article
author	Javier Muñoz Blanca López Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno
author_facet	Javier Muñoz Blanca López Fernando Quevedo Concepción A. Monje Santiago Garrido Luis E. Moreno
author_sort	Javier Muñoz
title	Multi UAV Coverage Path Planning in Urban Environments
title_short	Multi UAV Coverage Path Planning in Urban Environments
title_full	Multi UAV Coverage Path Planning in Urban Environments
title_fullStr	Multi UAV Coverage Path Planning in Urban Environments
title_full_unstemmed	Multi UAV Coverage Path Planning in Urban Environments
title_sort	multi uav coverage path planning in urban environments
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/a3bee9b8637241fe8bc460f79d742919
work_keys_str_mv	AT javiermunoz multiuavcoveragepathplanninginurbanenvironments AT blancalopez multiuavcoveragepathplanninginurbanenvironments AT fernandoquevedo multiuavcoveragepathplanninginurbanenvironments AT concepcionamonje multiuavcoveragepathplanninginurbanenvironments AT santiagogarrido multiuavcoveragepathplanninginurbanenvironments AT luisemoreno multiuavcoveragepathplanninginurbanenvironments
_version_	1718431602011275264

Multi UAV Coverage Path Planning in Urban Environments

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