An Improved Spanning Tree-Based Algorithm for Coverage of Large Areas Using Multi-UAV Systems

被引：2
作者：
Chleboun, Jan [1 ]
Amorim, Thulio [2 ]
Nascimento, Ana Maria [3 ]
Nascimento, Tiago P. [1 ,3 ]
机构：
[1] Czech Tech Univ Prague CTU, Dept Cybernet, Prague 12135, Czech Republic
[2] Univ Fed Rio Grande do Norte UFRN, Natalnet Associate Labs, BR-59078970 Natal, RN, Brazil
[3] Univ Fed Paraiba UFPB, Dept Comp Syst, Lab Syst Engn & Robot LASER, BR-58055000 Joao Pessoa, PB, Brazil
来源：
DRONES | 2023年 / 7卷 / 01期
关键词：
robot exploration; spanning tree; UAV; trajectory planning; TRAJECTORIES;
D O I：
10.3390/drones7010009
中图分类号：
TP7 [遥感技术];
学科分类号：
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要：
In this work, we propose an improved artificially weighted spanning tree coverage (IAWSTC) algorithm for distributed coverage path planning of multiple flying robots. The proposed approach is suitable for environment exploration in cluttered regions, where unexpected obstacles can appear. In addition, we present an online re-planner smoothing algorithm with unexpected detected obstacles. To validate our approach, we performed simulations and real robot experiments. The results showed that our proposed approach produces sub-regions with less redundancy than its previous version.
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收藏
页数：18
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