In this paper we consider a problem of scanningan outdoor area with a team of heterogeneous Unmanned AirVehicles (UAVs) equipped with different sensors (e.g. LIDARs).Depending on the availability of the UAV platforms and themission requirements there is a need to either minimise thetotal mission time or to maximise certain properties of thescan output, such as the point cloud density. The key challengeis to divide the scanning task among UAVs while taking intoaccount the differences in capabilities between platforms andsensors. Additionally, the system should be able to ensure thatconstraints such as limit on the flight time are not violated.We present an approach that uses an optimisation techniqueto find a solution by dividing the area between platforms,generating efficient scan trajectories and selecting flight andscanning parameters, such as velocity and flight altitude. Thismethod has been extensively tested on a large set of randomlygenerated scanning missions covering a wide range of realisticscenarios as well as in real flights. ; CUAS ; SymbiKcloud


    Access

    Download


    Export, share and cite



    Title :

    Area Coverage with Heterogeneous UAVs using Scan Patterns



    Publication date :

    2016-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Clustering-Based Multi-Region Coverage-Path Planning of Heterogeneous UAVs

    Peng Xiao / Ni Li / Feng Xie et al. | DOAJ | 2023

    Free access

    Parallel region coverage using multiple UAVs

    Agarwal, A. / Lim Meng Hiot, / Nguyen Trung Nghia, et al. | IEEE | 2006


    A Clustering-Based Coverage Path Planning Method for Autonomous Heterogeneous UAVs

    Chen, Jinchao / Du, Chenglie / Zhang, Ying et al. | IEEE | 2022


    Rapid-Scan Area-Coverage Communication Satellite

    D.O. Reudink / Y.S. Yeh | AIAA | 1980


    A rapid scan area-coverage communication satellite

    REUDINK, D. / YEH, Y. | AIAA | 1978