Optimal Complete Terrain Coverage using an Unmanned Aerial Vehicle

摘要：

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.

作者: Anqi Xu Chatavut Viriyasuthee Ioannis Rekleitis

作者单位: School of Computer Science,McGill University National Science and Engineering Research Council (NSERC) of Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2513-2519

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）