A First Approach to Path Planning Coverage with Multi-UAVs

Abstract

In this paper, a multi-UAV system is applied to explore a searching area. The influence of the partition of the surface and the effects of varying the number of UAVs are analyzed. The covering of the area is based on small rectangular polygon area decomposition. Each sector is assigned to an UAV and efficient coverage algorithms are applied. The UAV follows a zig-zag navigation strategy to go through the way-points located at the center of the cells of the corresponding area. The performance of the multi-UAV system is discussed for different scenarios. Simulation results in terms of travel time are presented.