This paper investigates the cooperative coverage path planning problem of multiple fixed-wing UAVs. For an aerial imaging mission, the camera model mounted on the fixed-wing UAV pointing forward-down is established. Then, a cooperative back-and-forth (BF) flight pattern based on the relationship between the minimum turning radius and camera footprint is proposed. Compared with the traditional distributed collaborative approach, the presented cooperative method is proved to be superior in terms of the curve path length of turns, thus is more efficient and energy saving. Finally, one numerical simulation is put forward to validate the effectiveness of the proposed cooperative path planning method.
A Practical Cooperative Coverage Path Planning Method of Multiple Fixed-Wing UAVs for an Aerial Imaging Mission
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 339 ; 3676-3685
2023-03-10
10 pages
Article/Chapter (Book)
Electronic Resource
English
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