Muñoz Javier, López Blanca, Quevedo Fernando, Monje Concepción A, Garrido Santiago, Moreno Luis E
Robotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, Spain.
Sensors (Basel). 2021 Nov 5;21(21):7365. doi: 10.3390/s21217365.
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.
覆盖路径规划（CPP）是一个研究领域，其目标是找到一条覆盖特定感兴趣区域每个点的路径。近年来，无人机（UAV）在诸如监视、地形覆盖、测绘、自然灾害跟踪、运输等各种应用中变得更加熟练。本文的目的是为杂乱城市环境中的单架或多架无人机系统设计高效的具有避碰能力的覆盖路径规划算法。开发并探索了两种算法：其中一种算法使用双向换行飞行模式规划路径，以覆盖由给定周长界定且具有预定义覆盖高度和带宽的目标区域，而另一种提出的算法遵循一组预定义的视点，计算一条确保无人机飞越目标的平滑路径。两种算法都针对可扩展数量的无人机进行了开发，这些无人机以三角形可变形的领队 - 跟随队形飞行，领队位于队形前端。在无人机数量为偶数的情况下，队形前端没有领队，而是使用虚拟领队来规划跟随者的路径。所提出的算法还具有由快速行进正方形算法提供支持的避碰能力。这些算法在各种模拟城市和杂乱环境中进行了测试，结果证明它们能够为城市环境中的无人机编队提供安全且平滑的路径。
