Co-operative unmanned aerial vehicle searching and mapping of complex obstacles using two-dimensional splinegon
Samuel B. Lazarus, Antonios Tsourdos, Brian A. White, Peter M. G. Silson, R. Żbikowski · Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering · 2009
This article presents a cooperative guidance and estimation approach that enables multiple unmanned aerial vehicles (UAVs) to efficiently search and explore unknown environments. The computational efficient data information algorithm that leads to map building and update is based on geometrical tools known as two-dimensional splinegon. The circle packing search algorithm is used for the completeness of searching coverage of the exploring region, while the UAV trajectories are generated using Dubins path planning.