RT Journal Article
T1 Fast Marching Techniques for Teaming UAV's Applications in Complex Terrain
A1 Garrido Bullón, Luis Santiago
A1 Muñoz Mendi, Javier
A1 López Palomino, Blanca
A1 Quevedo Vallejo, Fernando
A1 Monje Micharet, Concepción Alicia
A1 Moreno Lorente, Luis Enrique
AB In this paper, we present a study on coverage missions carried out by UAV formations in 3D environments. These missions are designed to be applied in tracking and search and rescue missions, especially in the case of accidents. In this manner, the presented method focuses on the path planning stage, the objective of which is to compute a convenient trajectory to completely cover a certain area in a determined environment. The methodology followed uses a Gaussian mixture to approximate a probability of containment distribution along with the Fast Marching Square (FM2) as path planner. The Gaussians permit to define a zigzag trajectory that optimizes the path. Next, a first 2D geometric path perpendicular to the Voronoi diagram of the Gaussian distribution is calculated, obtained by skeletonization. To this path, the height above the ground is added plus the desired flight height to make it 3D. Finally, the FM2 method for formations is applied to make the path smooth and safe enough to be followed by UAVs. The simulation experiments show that the proposed method achieves good results for the zigzag path in terms of smoothness, safety and distance to cover the desired area through the formation of UAVs.
PB MDPI
SN 2504-446X
YR 2023
FD 2023-02-01
LK https://hdl.handle.net/10016/39859
UL https://hdl.handle.net/10016/39859
LA eng
NO The research leading to these results has received funding from the “EUROPEAN COMMISSION Innovation and Networks Executive Agency. Project number 861696-LABYRINTH”.
DS e-Archivo
RD 31 may. 2024