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Details

Autor(en) / Beteiligte
Titel
Flight planning in multi-unmanned aerial vehicle systems: Nonconvex polygon area decomposition and trajectory assignment
Ist Teil von
  • International journal of advanced robotic systems, 2021-01, Vol.18 (1), p.172988142198955
Ort / Verlag
London, England: SAGE Publications
Erscheinungsjahr
2021
Link zum Volltext
Quelle
EZB Electronic Journals Library
Beschreibungen/Notizen
  • Nowadays, it is quite common to have one unmanned aerial vehicle (UAV) working on a task but having a team of UAVs is still rare. One of the problems that prevent us from using teams of UAVs more frequently is flight planning. In this work, we present the first open-source solution (https://pypi.org/project/pode/) for splitting any complex area into multiple parts. The area of interest can be convex or nonconvex and can include any number of no-flight zones. Four solutions, based on the algorithm of Hert and Lumelsky, are tested with the aim of improving the compactness of the partitions. We also show how the shape of the partitions influences flight performance in a real case scenario.

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