상세정보
학술지
Autonomous Mission of Multi-UAV for Optimal Area Coverage
- 발행일
- 202104
- 출처
- Sensors, v.21 no.7, pp.1-21
- ISSN
- 1424-8220
- 출판사
- MDPI
- 협약과제
- 21HS5200, 안전한 무인이동체를 위한 ICT 기반기술 개발, 안재영
- 초록
- This study proposes an entire hardware and software architecture from operator input to motor command for the autonomous area coverage mission using multiple unmanned aerial vehicles. Despite the rapid growth of commercial drone services, there are many limitations on operations, such as a low decision-making autonomy and the need for experienced operators to intervene in the whole process. For performing the area coverage mission more efficiently and autonomously, this study newly designs an optimization problem that allocates waypoints created to cover that area to unmanned aerial vehicles. With an optimized list of waypoints, unmanned aerial vehicles can fill the given areas with their footprints in a minimal amount of time and do not overlap each other during the mission. In addition, this study performs both various simulations for quantitative analysis and an outdoor experiment through real hardware implementation in order to verify the performance sufficiently. The methodologies developed in this study could be applied to endless applications using unmanned aerial vehicles equipped with mission-specific sensors.
- KSP 제안 키워드
- Area coverage, Drone services, During the mission, Hardware Implementation, Motor command, Multiple Unmanned Aerial Vehicles, Optimization problem, Outdoor experiment, Whole process, decision making, hardware and software
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