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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Bibliographic Details
Published in2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS) pp. 487 - 492
Main Authors Quang, Hung Pham, Nguyen Dam, Truong, Hoang, Vu Nguyen, Pham Duy, Hung
Format Conference Proceeding
LanguageEnglish
Published IEEE 21.11.2022
Subjects
Automation
Back-and-Forth Pattern
Behavior Control
Behavioral sciences
Formation control
Measurement
Patrol and Surveillance
Periodic structures
Simulation
Surveillance
Sweep Coverage
V-Shaped Formation
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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.
ISSN:2475-7896
DOI:10.1109/ICCAIS56082.2022.9990236