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Path Planning for UAV to Cover Multiple Separated Convex Polygonal Regions

Junfei Xie, Luis Rodolfo Garcia Carrillo, Lei Jin
2020 IEEE Access  
To perform these applications, one of the key steps is to plan the path for the UAV to quickly cover all regions.  ...  INDEX TERMS Path planning, traveling salesman problem, coverage path planning, multiple convex polygonal regions, unmanned aerial vehicle, optimal path, heuristic algorithm.  ...  CONCLUSION In this paper, we conducted a systematic investigation on a new UAV path planning problem, namely TSP-CPP, which aims to find the optimal tour for a single UAV to fully cover multiple separated  ... 
doi:10.1109/access.2020.2980203 fatcat:fis7kbozrbbared5nqbfjostce

Flight planning in multi-unmanned aerial vehicle systems: Nonconvex polygon area decomposition and trajectory assignment

Georgy Skorobogatov, Cristina Barrado, Esther Salamí, Enric Pastor
2021 International Journal of Advanced Robotic Systems  
Nowadays, it is quite common to have one unmanned aerial vehicle (UAV) working on a task but having a team of UAVs is still rare.  ...  One of the problems that prevent us from using teams of UAVs more frequently is flight planning.  ...  Funding The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by Ministerio de Economía, Industria  ... 
doi:10.1177/1729881421989551 fatcat:mpiokbfucvfpplbas7jtqofr7i

Survey on Coverage Path Planning with Unmanned Aerial Vehicles

Tauã Cabreira, Lisane Brisolara, Paulo R. Ferreira Jr.
2019 Drones  
Coverage path planning consists of finding the route which covers every point of a certain area of interest.  ...  This paper aims to explore and analyze the existing studies in the literature related to the different approaches employed in coverage path planning problems, especially those using UAVs.  ...  Cooperative Strategies Cooperative strategies employ multiple UAVs to cover an area of interest.  ... 
doi:10.3390/drones3010004 fatcat:j3nsrywfnjcy3aw3zrug6xzmyu

Scalable multirotor UAV trajectory planning using mixed integer linear programming

Jorik De Waen, Hoang Tung Dinh, Mario Henrique Cruz Torres, Tom Holvoet
2017 2017 European Conference on Mobile Robots (ECMR)  
Trajectory planning using Mixed Integer Linear Programming (MILP) is a powerful approach because vehicle dynamics and other constraints can be taken into account.  ...  To demonstrate that this approach can scale enough to be useful in real, complex environments, it has been tested on maps of two cities with trajectories spanning over several kilometers.  ...  This limits the non-convexity for each subproblem, significantly improving execution time. In some cases, a Theta* path contains multiple nodes for a single turn.  ... 
doi:10.1109/ecmr.2017.8098706 dblp:conf/ecmr/WaenDTH17 fatcat:uoljymzqrfdirhi2jfvat34mia

Coverage Path Planning Methods Focusing on Energy Efficient and Cooperative Strategies for Unmanned Aerial Vehicles

Georgios Fevgas, Thomas Lagkas, Vasileios Argyriou, Panagiotis Sarigiannidis
2022 Sensors  
The coverage path planning (CPP) algorithms aim to cover the total area of interest with minimum overlapping. The goal of the CPP algorithms is to minimize the total covering path and execution time.  ...  Likewise, we aim to present a comparison between energy efficient CPP algorithms and directions for future research.  ...  The sub-areas that arise from the decomposition can be covered from a single UAV or multiple UAVs. There are patterns for a single UAV, such as boustrophedon and spiral for polygon and concave areas.  ... 
doi:10.3390/s22031235 pmid:35161979 pmcid:PMC8839296 fatcat:fhi5nbxz6vfa7h3qw7cjs667bq

R-DFS: A Coverage Path Planning Approach Based on Region Optimal Decomposition

Gang Tang, Congqiang Tang, Hao Zhou, Christophe Claramunt, Shaoyang Men
2021 Remote Sensing  
Most Coverage Path Planning (CPP) strategies based on the minimum width of a concave polygonal area are very likely to generate non-optimal paths with many turns.  ...  This paper introduces a CPP method based on a Region Optimal Decomposition (ROD) that overcomes this limitation when applied to the path planning of an Unmanned Aerial Vehicle (UAV) in a port environment  ...  Remote Sens. 2021, 13, x FOR PEER REVIEW 11 of 26 Step 1: Decompose a concave polygonal area into multiple convex polygon sub-regions.  ... 
doi:10.3390/rs13081525 fatcat:7venaolbtfbbvkxxqrvm63tffe

Cooperative multi-UAV coverage mission planning platform for remote sensing applications

Savvas D. Apostolidis, Pavlos Ch. Kapoutsis, Athanasios Ch. Kapoutsis, Elias B. Kosmatopoulos
2022 Autonomous Robots  
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications.  ...  Extensive simulated evaluation in comparison with a state-of-the-art alternative methodology, for coverage path planning (CPP) operations, establishes the performance gains in terms of achieved coverage  ...  It is shown that this kind of paths is more efficient, as turns are time and energy consuming for UAV missions. In this work, convex or concave polygon regions are decomposed to convex subregions.  ... 
doi:10.1007/s10514-021-10028-3 fatcat:h7fuq3stqvguzg66xjebpzdaue

Global Optimization of UAV Area Coverage Path Planning Based on Good Point Set and Genetic Algorithm

Jinbiao Yuan, Zhenbao Liu, Yeda Lian, Lulu Chen, Qiang An, Lina Wang, Bodi Ma
2022 Aerospace (Basel)  
To address this problem, the current paper proposes an area coverage path planning method for a fixed-wing unmanned aerial vehicle (UAV) based on an improved genetic algorithm.  ...  When performing area coverage tasks in some special scenarios, fixed-wing aircraft conventionally adopt the scan-type of path planning, where the distance between two adjacent tracks is usually less than  ...  In Figure 10a ,b are the path planning for convex polygon regions, Figure 10c ,d are path planning for concave polygons, Figure 10e ,f are path planning for rectangular regions.  ... 
doi:10.3390/aerospace9020086 fatcat:un2k6agz7fb6ladoqai2ymkl5i

Optimal Polygon Decomposition for UAV Survey Coverage Path Planning in Wind

Matthew Coombes, Tom Fletcher, Wen-Hua Chen, Cunjia Liu
2018 Sensors  
, and an intelligent method for decomposing the region into convex polygons conducive to quick flight times.  ...  In this paper, a new method for planning coverage paths for fixed-wing Unmanned Aerial Vehicle (UAV) aerial surveys is proposed.  ...  In order to generate these paths, the complex ROI polygon needs to be decomposed into convex regions that can be covered by Boustrophedon paths.  ... 
doi:10.3390/s18072132 pmid:29970818 pmcid:PMC6068989 fatcat:yxhezb2kqzhyhnntdnsyadd2vm

An Approach for Route Optimization in Applications of Precision Agriculture Using UAVs

Kshitij Srivastava, Prem Chandra Pandey, Jyoti K Sharma
2020 Drones  
Then, methods are applied for obtaining optimal routes and points for the spraying of inputs with an autonomous UAV for PA.  ...  Then an optimal path is found out which connects all the stressed regions and their spray points.  ...  Acknowledgments: The authors are thankful to Shiv Nadar University for providing the research facilities. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/drones4030058 doaj:747507100ac84d718ae86620d4dcf6c9 fatcat:lbb34ld5nrg2vntrok2vucbnl4

Flight Testing Boustrophedon Coverage Path Planning for Fixed Wing UAVs in Wind

Matthew Coombes, Wen-Hua Chen, Cunjia Liu
2019 2019 International Conference on Robotics and Automation (ICRA)  
A method was previously developed by this author to optimise the flight path of a fixed wing UAV performing aerial surveys of complex concave agricultural fields.  ...  To show that this is reasonable, wind fields measurements will be taken from a multi rotor UAV with an ultrasonic windspeed sensor.  ...  The alternative is to use a UAV (Unmanned Aerial Vehicle) to traverse the ROI (Region of Interest) and take multiple aerial images that cover the whole ROI.  ... 
doi:10.1109/icra.2019.8793943 dblp:conf/icra/CoombesCL19 fatcat:254pgaso75eqnc6nqcoqhysvua

A Multi-Objective Coverage Path Planning Algorithm for UAVs to Cover Spatially Distributed Regions in Urban Environments

Abdul Majeed, Seong Oun Hwang
2021 Aerospace (Basel)  
environments inhabiting multiple obstacles for covering spatially distributed regions.  ...  In many practical applications, UAVs are often required to fully cover multiple spatially distributed regions located in the 3D urban environments while avoiding obstacles.  ...  Many CPP methods have been reported in the literature for covering a regularly (i.e., rectangle, convex polygon) or irregularly (non-convex polygons) shaped AOI with the visual/thermal sensors mounted  ... 
doi:10.3390/aerospace8110343 fatcat:maqguicgmng2tmucuie4bbjyfm

Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment

Xiaoting Ji, Xiangke Wang, Yifeng Niu, Lincheng Shen
2015 Mathematical Problems in Engineering  
one in the convex region.  ...  The objective is to control multiple UAVs to find several unknown targets deployed in a given region, while minimizing the expected search time and avoiding obstacles.  ...  The latter method is to convert the cooperative search problem into a multiagent path planning issue.  ... 
doi:10.1155/2015/196730 fatcat:ih4y67aeyjg6dlm3zbsiw4t64e

Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

Jian Zhang, Hailong Huang
2021 Drones  
Two path-planning algorithms for reconnaissance and surveillance are proposed in this paper, which ensures every point on the target ground area can be seen at least once in a complete surveillance circle  ...  Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activities including but not limited to real-time monitoring, surveillance, reconnaissance, border patrol, search and rescue  ...  Figure 9b shows the situation where each UAV has a separate track to cover part of the terrain.  ... 
doi:10.3390/drones5030098 fatcat:5elmcjzmzjepdfhxxm5qny3raq

A survey on multi-robot coverage path planning for model reconstruction and mapping

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Yahya Zweiri
2019 SN Applied Sciences  
Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems.  ...  In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions.  ...  The overall area to be surveyed by the team of UAVs is divided into convex searching regions. The UAVs perform back and forward rectilinear sweeps in order to cover their convex regions.  ... 
doi:10.1007/s42452-019-0872-y fatcat:y6hkwvnapnfpnax3k7xnqkj2gi
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