Multi-UAV Coverage Strategy with V-shaped Formation for Patrol and Surveillance
This paper presents a multi-UAV coverage strategy using a V-shaped formation with requirements to maximize the sweep coverage rate and minimize flight time. The leader-follower model-based strategy combines a V-shaped formation control at which behavior-based control is used to allow the UAVs to fol...
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Published in | 2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS) pp. 487 - 492 |
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Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
21.11.2022
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Subjects | |
Online Access | Get full text |
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Summary: | This paper presents a multi-UAV coverage strategy using a V-shaped formation with requirements to maximize the sweep coverage rate and minimize flight time. The leader-follower model-based strategy combines a V-shaped formation control at which behavior-based control is used to allow the UAVs to follow virtual points on a virtual V-shaped structure created by the leader UAV, and an optimal coverage path planner to provide a single path in back-and-forth pattern for the formation. We have evaluated our proposed approach in simulations and achieved high performance in both two the stated metrics. |
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ISSN: | 2475-7896 |
DOI: | 10.1109/ICCAIS56082.2022.9990236 |