The main problem tackled in this paper is area coverage using multiple Unmanned Vehicles (UVs) by spreading them over a region of interest achieving maximum coverage and uniformity. Energy and time are two precious resources that should be wisely considered while developing the coverage algorithm. The deployment process is energy consuming, thus, it should be carefully designed. An energy-efficient and time- efficient deployment algorithm is chosen for the deployment of nodes to cover a region of interest based on the centroid of the Voronoi cells for area coverage in communicative surveillance tasks. One of the major contributions of this paper is finding a suitable threshold for the number of vehicles to be utilized to cover a specific area, thus saving energy and money. The performance of the algorithm is evaluated after conducting several experiments on a different number of vehicles and areas to verify the effectiveness of the approach. The results show that the proposed algorithm was able to deploy the agents to positions to cover the region of interest successfully, and the different scenarios gave an overview of the change in coverage percentage with the change in the number of agents.
Beneficial Performance Assessment of Voronoi-based Centroidal Scheme for Area Coverage
2019-09-01
894294 byte
Conference paper
Electronic Resource
English
British Library Online Contents | 2006
|British Library Conference Proceedings | 2003
|Directional Dependence of Axonal Brain Injury due to Centroidal and Non-Centroidal Acceleration
SAE Technical Papers | 1987
|