Coverage mission for UAVs using differential evolution and fast marching square methods

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dc.contributor.author González Pérez, Verónica
dc.contributor.author Monje Micharet, Concepción Alicia
dc.contributor.author Garrido Bullón, Luis Santiago
dc.contributor.author Moreno Lorente, Luis Enrique
dc.contributor.author Balaguer Bernaldo de Quirós, Carlos
dc.date.accessioned 2022-01-19T10:44:15Z
dc.date.available 2022-01-19T10:44:15Z
dc.date.issued 2020-02-01
dc.identifier.bibliographicCitation Gonzalez, V., Monje, C. A., Garrido, S., Moreno, L. & Balaguer, C. (2020). Coverage Mission for UAVs Using Differential Evolution and Fast Marching Square Methods. IEEE Aerospace and Electronic Systems Magazine, 35(2), 18–29.
dc.identifier.issn 0885-8985
dc.identifier.uri http://hdl.handle.net/10016/33911
dc.description.abstract This research presents a novel approach for missions of coverage path planning (CPP) carried out by unmanned aerial vehicles (UAVs) in a three-dimensional environment. These missions are focused on path planning to cover a certain area in an environment in order to carry out tracking, search, or rescue tasks. The methodology followed uses an optimization process based on the differential evolution (DE) algorithm in combination with the Fast Marching Square (FM2) planner. The DE algorithm evaluates a cost function to determine what the zigzag path with the minimum cost is, according to the steering angle of the zigzag bands (alfa). This optimization process allows achieving the most optimal zigzag path in terms of distance traveled by the UAV to cover the whole area. Then, the FM2 method is applied to generate the final path according to the steering angle of the zigzag bands resulting from the DE algorithm. The approach generates a feasible path free from obstacles, keeping a fixed altitude flight over the ground. The flight level, smoothness, and safety of the path can be modified by two adjustment parameters included in our approach. Simulated experiments carried out in this work demonstrate that the proposed approach generates the most optimal zigzag path in terms of distance, safety, and smoothness to cover a certain whole area, keeping a determined flight level with successful results.
dc.description.sponsorship This work was supported by the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.
dc.format.extent 12
dc.language.iso eng
dc.publisher IEEE
dc.rights © 2020, IEEE.
dc.subject.other Heuristic algorithms
dc.subject.other Surface treatment
dc.subject.other Kinematics
dc.subject.other Trajectory
dc.subject.other Cameras
dc.subject.other Task analysis
dc.subject.other Unmanned aerial vehicles
dc.title Coverage mission for UAVs using differential evolution and fast marching square methods
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1109/MAES.2020.2966317
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2013/MIT-2748
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 18
dc.identifier.publicationissue 2
dc.identifier.publicationlastpage 29
dc.identifier.publicationtitle IEEE Aerospace and Electronic Systems Magazine
dc.identifier.publicationvolume 35
dc.identifier.uxxi AR/0000025566
dc.contributor.funder Comunidad de Madrid
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