Complete coverage path planning for aerial vehicle flocks deployed in outdoor environments

• Published in: Computers & electrical engineering Vol. 75; pp. 189 - 201
• Main Authors: Guastella, Dario Calogero, Cantelli, Luciano, Giammello, Giuseppe, Melita, Carmelo Donato, Spatino, Gianluca, Muscato, Giovanni
• Format: Journal Article
• Language: English
• Published: Amsterdam Elsevier Ltd 01-05-2019; Elsevier BV
• Subjects: Coverage path planning; Data structures; Decomposition; Environment 3D model; Geographic information system; Geographic information systems; Integrated software; Path planning; Software; Software development tools; Task negotiation; UAV Flock management; Unmanned aerial vehicles; UAV Flock management; Coverage path planning; Geographic information system; Task negotiation; Environment 3D model
• ISSN: 0045-7906; 1879-0755
• DOI: 10.1016/j.compeleceng.2019.02.024

This paper presents a system for Complete Coverage Path Planning to survey an outdoor area with a flock of Unmanned Aerial Vehicles (UAVs). The proposed system is able to manage the presence of no-fly zones, by decomposing the area into smaller subregions via a Morse-based decomposition approach. Furthermore, negotiation for UAV-subregion assignment is managed, taking into account environment geometry and both starting and desired final positions for the UAVs, once the coverage mission is completed. The back-and-forth motion is chosen as coverage pattern inside each subregion. All these features have been implemented with an integrated software framework, capable of working with georeferenced maps and data structures, thus obtaining a software tool compatible with commonly used geographic information systems.