Abstract
Aerial coverage path planning is a type of path planning where the sensor footprint covers all accessible parts of the area of interest. This type of path planning finds application in precision agriculture, precision forestry and service robots. Limited endurance of micro aerial vehicles has limited their operations to small areas coverable in a single flight. New application domains like geological survey cover vast areas exceeding endurances of most modern aerial platforms and the available path planners do not address coverage of such areas. This paper presents an approach for generating coverage paths for large-scale aerial mapping. The planner applies voronoi partitioning to decompose large areas into manageable cells. Then generates boustrophedon paths to cover each cell. The proposed planner is incorporated into Mission Planner. Software in the loop simulation results have ascertained the feasibility and completeness of the generated paths, even with multiple micro aerial platforms.
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Gyagenda, N., Nasir, A.K., Roth, H., Zhmud, V. (2019). Coverage Path Planning for Large-Scale Aerial Mapping. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_21
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DOI: https://doi.org/10.1007/978-3-030-23807-0_21
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