查看文章

Unmanned aerial vehicle (UAV) equipped with visual sensors are extensively used in area coverage applications. As a UAV would only cover a fraction of the region of interest, the entire region needs to be covered by several UAVs where each UAV accomplishes its own tasks. For the covering of the target region, a working method consisting of three levels has been developed. The initial step employs the Voronoi partition technique to create a number of convex sub-polygonal areas inside the target area. In the second level, each sub-polygonal area is partitioned to provide a near-optimal collection of waypoints. At the third and final level, we find a path that visits each of the waypoints without colliding with anything and is as short as feasible. Collision due to both static and dynamic obstacles is also considered for avoidance. The first and second-level partitioning processes are carried out offline, whereas path …