Multi UAV coverage path planning in urban environments

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dc.contributor.author Muñoz Mendi, Javier
dc.contributor.author López Palomino, Blanca
dc.contributor.author Quevedo Vallejo, Fernando
dc.contributor.author Monje Micharet, Concepción Alicia
dc.contributor.author Garrido Bullón, Luis Santiago
dc.contributor.author Moreno Lorente, Luis Enrique
dc.date.accessioned 2022-01-24T11:14:21Z
dc.date.available 2022-01-24T11:14:21Z
dc.date.issued 2021-11-01
dc.identifier.bibliographicCitation Muñoz, J., López, B., Quevedo, F., Monje, C. A., Garrido, S. & Moreno, L. E. (2021). Multi UAV Coverage Path Planning in Urban Environments. Sensors, 21(21), 7365.
dc.identifier.issn 1424-8220
dc.identifier.uri http://hdl.handle.net/10016/33944
dc.description This article belongs to the Special Issue Efficient Planning and Mapping for Multi-Robot Systems.
dc.description.abstract 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.
dc.description.sponsorship This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696.
dc.format.extent 18
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
dc.rights Atribución 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by/3.0/es/
dc.subject.other UAVs
dc.subject.other Coverage path planning
dc.subject.other Path planning
dc.subject.other Fast marching
dc.title Multi UAV coverage path planning in urban environments
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.3390/s21217365
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/EC/861696
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 7365
dc.identifier.publicationissue 21
dc.identifier.publicationtitle Sensors
dc.identifier.publicationvolume 21
dc.identifier.uxxi AR/0000028999
dc.contributor.funder European Commission
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