Dynamic Aerial Coverage of Stationary and Moving Structures Using Lissajous Curves
Suryadeep Nath, Debasish Ghose · 2024
In this paper, we present a novel dynamic aerial coverage strategy using the concept of Lissajous curves. We apply our coverage strategy to (1) coverage of a surface enclosing the structure, (2) coverage using multiple agents, (3) coverage by conforming to the shape of the structure, and (4) coverage of a moving vehicle. For coverage by conforming to the shape, we introduce an attractive-repulsive force; for coverage of a moving vehicle, we introduce a follower force. We introduce two novel metrics, CCF, and NVF, that measure the completeness and uniformity of the coverage, respectively. It is shown analytically that an irrational frequency ratio for the Lissajous curve leads to complete coverage. Finally, we study the effectiveness of our coverage strategy using the two metrics and observe the effect of various parameters on them.