An Area-Decomposition Based Approach for Cooperative Tasking and Coordination of UAVs in a Search and Coverage Mission
An Area-Decomposition Based Approach for Cooperative Tasking and Coordination of UAVs in a Search and Coverage Mission
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DOI：
10.1109/aero.2019.8741565
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发表时间：
2019-03
期刊：
影响因子：
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通讯作者：
K. Vinh;S. Gebreyohannes;A. Karimoddini
中科院分区：
文献类型：
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作者：
K. Vinh;S. Gebreyohannes;A. Karimoddini
提出了一种基于低计算量的区域分解方法，用于无人机搜索任务团队的任务和规划。对于被捕获为凸多边形的感兴趣区域，计算最小边界矩形并将其分解为几个分区，这些分区根据无人机的飞行和感知能力被分配给不同的无人机。提出了一种基于混合整数线性规划(MILP)的无人机自动搜索技术。如果每个单独的无人机遵循创建的扫描模式并访问生成的路点，应用所开发的方法，可以保证搜索整个感兴趣的区域。将该算法应用于农场内多个无人机搜索区域的任务协调，给出了实现细节和结果。
This paper develops a low-computation area-decomposition based approach for tasking and planning for a team of Unmanned Aerial Vehicles (UAVs) involved in a search mission. For an area of interest captured as a convex polygon, a minimum bounding rectangle is calculated and decomposed into several partitions, which are assigned to different UAVs based on their flying and sensing capabilities. A novel Mixed Integer Linear Programming (MILP) based technique is developed to automatically task the UAVs to sweep the area of interest. If each individual UAV follows the created sweeping pattern and visit the generated waypoints, applying the developed method, it can be guaranteed that the entire area of interest is searched. The developed algorithm is applied to tasking and coordination of multiple UAVs searching an area on a farm and the implementation details and results are provided.