Survey on Coverage Path Planning with Unmanned Aerial Vehicles

Drones

Paulo R. Ferreira¹  LisaneB. Brisolara¹  TauãM. Cabreira¹ 

[1] Programa de Pós-Graduação em Computação (PPGC), Universidade Federal de Pelotas (UFPel), 96010-610 Pelotas, Brazil;

关键词: unmanned aerial vehicles;    coverage path planning;    terrain coverage;    exact cellular decomposition;    approximate cellular decomposition;   

DOI  :  10.3390/drones3010004

来源: DOAJ

【 摘 要 】

Coverage path planning consists of finding the route which covers every point of a certain area of interest. In recent times, Unmanned Aerial Vehicles (UAVs) have been employed in several application domains involving terrain coverage, such as surveillance, smart farming, photogrammetry, disaster management, civil security, and wildfire tracking, among others. This paper aims to explore and analyze the existing studies in the literature related to the different approaches employed in coverage path planning problems, especially those using UAVs. We address simple geometric flight patterns and more complex grid-based solutions considering full and partial information about the area of interest. The surveyed coverage approaches are classified according to a classical taxonomy, such as no decomposition, exact cellular decomposition, and approximate cellular decomposition. This review also contemplates different shapes of the area of interest, such as rectangular, concave and convex polygons. The performance metrics usually applied to evaluate the success of the coverage missions are also presented.

【 授权许可】

Unknown