Trajectory Planning for Aerial Vehicles in the Area Coverage Problem with Nearby Obstacles

Marek, Jakub; Váňa, Petr; Faigl, Jan

doi:10.1007/978-3-030-14984-0_18

Cited by 2 publications

(1 citation statement)

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“…Online coverage planning methods that are directly applicable to Dubins vehicles remain limited. One approach is to obtain an offline solution for coverage paths using any available prior knowledge, and then replan according to the information collected through sensors as the robot moves to avoid collisions [41][42][43][44]. Another way is to modify existing online coverage approaches, such as online STC [19] and online BA * [20], to decelerate and make smooth turns that satisfy the minimum turning radius constraints.…”

Section: Related Workmentioning

confidence: 99%

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments

Kan

Teng

Karydis

2020

Preprint

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Online coverage planning can be useful in applications like field monitoring and search and rescue. Without prior information of the environment, achieving resolutioncomplete coverage considering the non-holonomic mobility constraints in commonly-used vehicles (e.g., wheeled robots) remains a challenge. In this paper, we propose a hierarchical, hexdecomposition-based coverage planning algorithm for unknown, obstacle-cluttered environments. The proposed approach ensures resolution-complete coverage, can be tuned to achieve fast exploration, and plans smooth paths for Dubins vehicles to follow at constant velocity in real-time. Gazebo simulations and hardware experiments with a non-holonomic wheeled robot show that our approach can successfully tradeoff between coverage and exploration speed and can outperform existing online coverage algorithms in terms of total covered area or exploration speed according to how it is tuned.

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