This paper proposes an innovative approach to coverage path planning and obstacle avoidance for multiple Unmanned Ground Vehicles (UGVs) in a changing environment, taking into account constraints on the time, path length, number of UGVs and obstacles. Our approach leverages deformable virtual leader-follower formations to enable UGVs to adapt their formation based on both planned and real-time sensor data. A hierarchical block algorithm is employed to identify areas in the environment where UGV formations can spread out to meet time and budget constraints. Additionally, we introduce a novel control scheme that allows each UGV to generate a local steering force to dodge any static and mobile obstacles based on the closest safe angle. Results from simulations and real UGV experiments demonstrate that our approach achieves a higher coverage percentage than rule-based and reactive swarming approaches without planning. Our approach offers a promising solution for efficient coverage path planning and obstacle avoidance in complex environments with multiple UGVs.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coverage Path Planning With Budget Constraints for Multiple Unmanned Ground Vehicles


    Contributors:

    Published in:

    Publication date :

    2023-11-01


    Size :

    5768547 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Survey on Coverage Path Planning with Unmanned Aerial Vehicles

    Tauã M. Cabreira / Lisane B. Brisolara / Paulo R. Ferreira | DOAJ | 2019

    Free access

    Cooperative Path Planning of Multiple Unmanned Surface Vehicles for Search and Coverage Task

    Zhiyao Zhao / Bin Zhu / Yan Zhou et al. | DOAJ | 2022

    Free access

    A Coverage Path Planning Method Based on Multiple Solar Powered Unmanned Aerial Vehicles

    Du, Nannan / Zhang, Zichao / Chen, Jian et al. | IEEE | 2019