Coverage path planning (CPP) is the task of finding a path that covers every point of an area of interest. Unmanned Aerial Vehicles (UAVs) are being widely used in various fields, such as rescuing, photography, agriculture, and surveillance. However, most of the research focused on finding the optimal path that can cover a specific area without threat and value zone constraints. This paper proposes an entry-and-exit point geometric pattern based CPP algorithm that can avoid no-fly zones and visit high-value zones effectively. The algorithm does not require iterative search and optimization, so it has a real-time performance. Finally, the performances of the proposed method on simulation and real environments are presented and analyzed.


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    Title :

    Real-Time Coverage Path Planning of a UAV with Threat and Value Zone Constraints


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jia, Yingmin (editor) / Zhang, Weicun (editor) / Fu, Yongling (editor) / Liu, Yan (author) / Li, Hao (author) / Liu, Zhi (author)

    Conference:

    Chinese Intelligent Systems Conference ; 2020 ; Shenzhen City, China October 24, 2020 - October 25, 2020



    Publication date :

    2020-09-24


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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