1. Flight planning in multi-unmanned aerial vehicle systems: Nonconvex polygon area decomposition and trajectory assignment
- Author
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Cristina Barrado, Esther Salamí, Enric Pastor, Georgy Skorobogatov, Universitat Politècnica de Catalunya. Doctorat en Ciència i Tecnologia Aeroespacials, Universitat Politècnica de Catalunya. Departament d'Arquitectura de Computadors, and Universitat Politècnica de Catalunya. ICARUS - Intelligent Communications and Avionics for Robust Unmanned Aerial Systems
- Subjects
0209 industrial biotechnology ,Vehicles autònoms ,Computer science ,Unmanned aerial system ,Robots autònoms ,Real-time computing ,Autonomous vehicles ,0211 other engineering and technologies ,lcsh:TK7800-8360 ,Trajectory planning ,02 engineering and technology ,lcsh:QA75.5-76.95 ,Multi-UAV ,Task (project management) ,020901 industrial engineering & automation ,Artificial Intelligence ,Autonomous robots ,Decomposition (computer science) ,021101 geological & geomatics engineering ,lcsh:Electronics ,Unmanned aerial vehicle ,Enginyeria aeroespacial ,Computer Science Applications ,Aerospace engineering ,Coverage path planning ,Flight planning ,Polygon ,Trajectory ,lcsh:Electronic computers. Computer science ,Aeronàutica i espai [Àrees temàtiques de la UPC] ,Software - Abstract
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. This work was supported by Ministerio de Economía, Industria y Competitividad, and Gobierno de España under grants/award numbers BES-2017-079798 and TRA2016-77012-R.
- Published
- 2021
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