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An Efficient Path Planning Algorithm for 2D Ground Area Coverage Using Multi-UAV

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Abstract

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 planning is handled in real-time. Traditional methods like Particle Swarm Optimisation (PSO), Genetic Algorithm (GA), and Cuckoo Optimisation Algorithm (COA) are used to evaluate the proposed work. The evaluated result of the proposed work is compared with the existing work on area coverage in terms of the percentage of inside and outside area coverage. Also, the performance of the proposed dynamic path planning method is compared with TSP and the Improved Follow the Gap Method (FGM-I). The outcome demonstrates that the proposed work is far more effective than the existing result and is suitable for the application in issue, which involves area coverage with the presence of obstacles.

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Authors and Affiliations

  1. Department of Computer Science and Engineering, National Institute of Technology, Rourkela, Odisha, 769008, India

    Sipra Swain & Pabitra Mohan Khilar

  2. Department of Computer Science and Engineering, ITER, SOA (Deemed to be) University, Bhubaneswar, India

    Biswa Ranjan Senapati

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  1. Sipra Swain
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  2. Pabitra Mohan Khilar
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Contributions

All authors contributed to the study conception and design. Material preparation and analysis were performed by [SS], [BRS] and [PMK]. The first draft of the manuscript was written by [SS] and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Sipra Swain.

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Swain, S., Khilar, P.M. & Senapati, B.R. An Efficient Path Planning Algorithm for 2D Ground Area Coverage Using Multi-UAV. Wireless Pers Commun 132, 361–407 (2023). https://doi.org/10.1007/s11277-023-10614-x

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