Method for formations is applied to make the path smooth and safe enough to be followed by UAVs. To this path, the height above the ground is added plus the desired flight height to make it 3D. Next, a first 2D geometric path perpendicular to the Voronoi diagram of the Gaussian distribution is calculated, obtained by skeletonization. The Gaussians permit to define a zigzag trajectory that optimizes the path. The methodology followed uses a Gaussian mixture to approximate a probability of containment distribution along with the Fast Marching Square (FM2 In this manner, the presented method focuses on the path planning stage, the objective of which is to compute a convenient trajectory to completely cover a certain area in a determined environment. These missions are designed to be applied in tracking and search and rescue missions, especially in the case of accidents. In this paper, we present a study on coverage missions carried out by UAV formations in 3D environments.
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