Coverage Path Planning for Surveying Disjoint Areas

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

© 2018 IEEE. Terrain surveying using unmanned aerial vehicles (UAV) is being applied to many areas such as precision agriculture or battlefield surveillance. A core problem of the surveying task is the coverage path planning problem (CPP); it is defined as the task of determining a path for an unmanned aerial vehicle so that it observes all points of a target area. State-of-the-art planners solve the problem for a unique region. However, in some operations, for example search and rescue, it is important to plan a path that covers more than a single area. We propose a method for solving the CPP for disjoint areas. The general problem is modeled as a rural postman problem which has been demonstrated to be NP-Hard. Our solution relies on dividing the problem into two steps: optimization of the visiting order and optimization of the flight lines orientation. The method is validated through several simulations using real parameters. In addition, it is fast enough for being implemented onboard.
Original languageAmerican English
Pages899-904
Number of pages808
DOIs
StatePublished - 31 Aug 2018
Event2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 -
Duration: 31 Aug 2018 → …

Conference

Conference2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Period31/08/18 → …

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Surveying
Unmanned aerial vehicles (UAV)
Motion planning
Agriculture

Cite this

Vasquez-Gomez, J. I., Herrera-Lozada, J. C., & Olguin-Carbajal, M. (2018). Coverage Path Planning for Surveying Disjoint Areas. 899-904. Paper presented at 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, . https://doi.org/10.1109/ICUAS.2018.8453386
Vasquez-Gomez, Juan Irving ; Herrera-Lozada, Juan Carlos ; Olguin-Carbajal, Mauricio. / Coverage Path Planning for Surveying Disjoint Areas. Paper presented at 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, .808 p.
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Vasquez-Gomez, JI, Herrera-Lozada, JC & Olguin-Carbajal, M 2018, 'Coverage Path Planning for Surveying Disjoint Areas', Paper presented at 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, 31/08/18 pp. 899-904. https://doi.org/10.1109/ICUAS.2018.8453386

Coverage Path Planning for Surveying Disjoint Areas. / Vasquez-Gomez, Juan Irving; Herrera-Lozada, Juan Carlos; Olguin-Carbajal, Mauricio.

2018. 899-904 Paper presented at 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, .

Research output: Contribution to conferencePaper

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Vasquez-Gomez JI, Herrera-Lozada JC, Olguin-Carbajal M. Coverage Path Planning for Surveying Disjoint Areas. 2018. Paper presented at 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, . https://doi.org/10.1109/ICUAS.2018.8453386