Flight planning in multi-unmanned aerial vehicle systems: Nonconvex polygon area decomposition and trajectory assignment

International Journal of Advanced Robotic Systems

article

Georgy Skorobogatov¹  Cristina Barrado¹  Esther Salamí¹  Enric Pastor¹ 

[1] Computer Architecture Department, Universitat Politècnica de Calatunya

关键词: Unmanned aerial vehicle;    multi-UAV;    unmanned aerial system;    coverage path planning;    trajectory planning;   

DOI  :  10.1177/1729881421989551

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Nowadays, it is quite common to have one unmanned aerial vehicle (UAV) working on a task but having a team of UAVs is still rare. One of the problems that prevent us from using teams of UAVs more frequently is flight planning. In this work, we present the first open-source solution (https://pypi.org/project/pode/) for splitting any complex area into multiple parts. The area of interest can be convex or nonconvex and can include any number of no-flight zones. Four solutions, based on the algorithm of Hert and Lumelsky, are tested with the aim of improving the compactness of the partitions. We also show how the shape of the partitions influences flight performance in a real case scenario.

【 授权许可】

CC BY