Multi UAV Coverage Path Planning in Urban Environments

Area of Science:

• Robotics and Automation
• Aerospace Engineering
• Computer Science

Background:

• Coverage Path Planning (CPP) is crucial for Unmanned Aerial Vehicle (UAV) applications like surveillance and mapping.
• Urban environments present significant challenges for UAV navigation due to clutter and obstacles.
• Existing CPP algorithms often lack robust collision avoidance for multi-UAV systems in complex settings.

Purpose of the Study:

• To design efficient, collision-avoidance capable coverage path planning algorithms for single or multi-UAV systems.
• To enable UAVs to safely and smoothly cover target zones or survey predefined viewpoints in cluttered urban environments.
• To develop scalable algorithms adaptable to varying numbers of UAVs and formations.

Main Methods:

• Development of two distinct CPP algorithms: one utilizing a boustrophedon pattern for area coverage and another for viewpoint-based path planning.
• Implementation of a deformable triangular leader-follower formation for multi-UAV coordination, including a virtual leader strategy for even UAV numbers.
• Integration of the Fast Marching Square algorithm for robust collision avoidance capabilities.
• Simulation-based testing in diverse, cluttered urban environments to validate algorithm performance.

Main Results:

• Both developed algorithms successfully generated safe and smooth paths for UAV formations in simulated urban environments.
• The algorithms demonstrated scalability for a variable number of UAVs operating in coordinated formations.
• Collision avoidance was effectively managed, ensuring operational safety within complex, cluttered settings.
• The viewpoint-based algorithm ensured UAVs passed smoothly over designated objectives.

Conclusions:

• The proposed CPP algorithms offer effective solutions for UAV navigation and coverage in challenging urban landscapes.
• The integration of advanced collision avoidance and formation strategies enhances the reliability and safety of multi-UAV operations.
• These algorithms represent a significant advancement in enabling proficient UAV deployment for various urban applications.