Luna, Marco Andrés (Universidad Politécnica de Madrid), Ale Isaac, Mohammad Sadeq (Universidad Politécnica de Madrid), Fernandez-Cortizas, Miguel (Universidad Politécnica de Madrid), Carlos, Santos (Universidad de Alcalá), Ragab, Ahmed (October 6 University), Molina, Martin (Universidad Politécnica de Madrid), Campoy, Pascual (Universidad Politécnica de Madrid)

Spiral Coverage Path Planning for Multi-UAV Photovoltaic Panel Inspection Applications

Scheduled for presentation during the Regular Session "Path Planning IV" (ThB3), Thursday, June 8, 2023, 11:00−11:20, Room 464

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on May 11, 2025

Abstract

This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for multi-region inspection with a swarm of UAVs are applied. The centralized system architecture is described, and an adaptive sliding mode controller is designed. Furthermore, we evaluate the performance of the proposed techniques by obtaining numerical results and simulations with the controller. The results show that the spiral pattern optimizes the cost of the mission and improves the task distribution of the mission planning system. Additionally, the performance of the proposed controller is robust to simulated disturbances.