ICUAS'17 Paper Abstract


Paper WeC5.4

Balampanis, Fotios (Universidad de Sevilla), Maza, Ivan (Universidad de Sevilla CIF Q-4118001-I), Ollero, Anibal (Universidad de Sevilla)

Spiral-Like Coverage Path Planning for Multiple Heterogeneous UAS Operating in Coastal Regions

Scheduled for presentation during the "Maritime and Coastal Applications of UASs" (WeC5), Wednesday, June 14, 2017, 17:40−18:00, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Path Planning, Swarms, UAS Applications


This paper addresses area coverage in complex non concave coastal regions for an arbitrary number of heterogeneous Unmanned Aircraft Systems (UAS). The space is discretized with the constrained Delaunay triangulation and the Lloyd optimization is applied to the computed mesh. The paper presents an algorithm to compute a waypoint list for each UAS such that each sub-area is covered with its sensor on-board following a pattern that goes from the borders of the sub-area to the inner regions. In addition, the resulting paths lead to a uniform coverage pattern that avoids visiting some regions more times than others. Different sensitivity parameters of the algorithm are compared based on the average angles between the waypoints and the total length of the paths. Results show that these parameters support the optimization of the computed waypoint lists and the proposed algorithm produces feasible coverage paths while increasing their smoothness.



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