Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum TimeReportar como inadecuado

Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

Escola de Engenharia, Universidade Federal de Minas Gerais, Av. Antônio Carlos 6627, Belo Horizonte 31270-901, MG, Brazil


Author to whom correspondence should be addressed.

Academic Editor: Felipe Gonzalez Toro

Abstract This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles UAVs equipped with image sensors. The solution is divided into two parts: i the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and ii the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem’s VRP solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles’ maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs. View Full-Text

Keywords: coverage path planning; UAVs; vehicle routing problem coverage path planning; UAVs; vehicle routing problem

Autor: Gustavo S. C. Avellar, Guilherme A. S. Pereira * , Luciano C. A. Pimenta and Paulo Iscold



Documentos relacionados