Optimal Complete Terrain Coverage using an Unmanned Aerial Vehicle

Anqi Xu, Chatavut Viriyasuthee, Ioannis Rekleitis
In IEEE International Conference on Robotics and Automation (ICRA) 2011. [70 citations]

Abstract

Abstract: We present the adaptation of an optimal terrain coverage algorithm for the aerial robotics domain. The general strategy involves computing a trajectory through a known environment with obstacles that ensures complete coverage of the terrain while minimizing path repetition. We introduce a system that applies and extends this generic algorithm to achieve automated terrain coverage using an aerial vehicle. Extensive experimental results in simulation validate the presented system, along with data from over 100 kilometers of successful coverage flights using a fixed-wing aircraft.

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BibTeX

@inproceedings{XuICRA2011,
  author       = {Anqi Xu and Chatavut Viriyasuthee and Ioannis Rekleitis},
  title        = {Optimal Complete Terrain Coverage using an Unmanned
		 Aerial Vehicle},
  booktitle    = {IEEE International Conference on Robotics and Automation
		 (ICRA)},
  year	       = {2011},
  month        = {May},
  address      = {Shanghai, China},
  pages        = {2513--2519}
}

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Mon Sep 16 06:21:02 EDT 2019