Autonomous Mission of Multi-UAV for Optimal Area Coverage
This study proposes an entire hardware and software architecture from operator input to motor command for the autonomous area coverage mission using multiple unmanned aerial vehicles. Despite the rapid growth of commercial drone services, there are many limitations on operations, such as a low decis...
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Published in | Sensors (Basel, Switzerland) Vol. 21; no. 7; p. 2482 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
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02.04.2021
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Abstract | This study proposes an entire hardware and software architecture from operator input to motor command for the autonomous area coverage mission using multiple unmanned aerial vehicles. Despite the rapid growth of commercial drone services, there are many limitations on operations, such as a low decision-making autonomy and the need for experienced operators to intervene in the whole process. For performing the area coverage mission more efficiently and autonomously, this study newly designs an optimization problem that allocates waypoints created to cover that area to unmanned aerial vehicles. With an optimized list of waypoints, unmanned aerial vehicles can fill the given areas with their footprints in a minimal amount of time and do not overlap each other during the mission. In addition, this study performs both various simulations for quantitative analysis and an outdoor experiment through real hardware implementation in order to verify the performance sufficiently. The methodologies developed in this study could be applied to endless applications using unmanned aerial vehicles equipped with mission-specific sensors. |
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AbstractList | This study proposes an entire hardware and software architecture from operator input to motor command for the autonomous area coverage mission using multiple unmanned aerial vehicles. Despite the rapid growth of commercial drone services, there are many limitations on operations, such as a low decision-making autonomy and the need for experienced operators to intervene in the whole process. For performing the area coverage mission more efficiently and autonomously, this study newly designs an optimization problem that allocates waypoints created to cover that area to unmanned aerial vehicles. With an optimized list of waypoints, unmanned aerial vehicles can fill the given areas with their footprints in a minimal amount of time and do not overlap each other during the mission. In addition, this study performs both various simulations for quantitative analysis and an outdoor experiment through real hardware implementation in order to verify the performance sufficiently. The methodologies developed in this study could be applied to endless applications using unmanned aerial vehicles equipped with mission-specific sensors. |
Author | Jung, Sunggoo Hong, Youkyung Cha, Jihun Kim, Suseong |
AuthorAffiliation | Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea; youkyh1@etri.re.kr (Y.H.); suseongkim@etri.re.kr (S.K.); jihun@etri.re.kr (J.C.) |
AuthorAffiliation_xml | – name: Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea; youkyh1@etri.re.kr (Y.H.); suseongkim@etri.re.kr (S.K.); jihun@etri.re.kr (J.C.) |
Author_xml | – sequence: 1 givenname: Youkyung orcidid: 0000-0001-5478-9164 surname: Hong fullname: Hong, Youkyung organization: Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea – sequence: 2 givenname: Sunggoo orcidid: 0000-0001-7672-6885 surname: Jung fullname: Jung, Sunggoo organization: Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea – sequence: 3 givenname: Suseong surname: Kim fullname: Kim, Suseong organization: Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea – sequence: 4 givenname: Jihun surname: Cha fullname: Cha, Jihun organization: Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea |
BackLink | https://www.ncbi.nlm.nih.gov/pubmed/33918491$$D View this record in MEDLINE/PubMed |
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SubjectTerms | area coverage Autonomy Communication Computer architecture Drone aircraft Drone vehicles Drones Earthquakes Experiments Field study Linear programming mission planning mixed integer linear programming Optimization path planning Software task assignment Traveling salesman problem unmanned aerial vehicle Unmanned aerial vehicles Vehicles Waypoints |
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Title | Autonomous Mission of Multi-UAV for Optimal Area Coverage |
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