An Improved Spanning Tree-Based Algorithm for Coverage of Large Areas Using Multi-UAV Systems

نویسندگان

چکیده

In this work, we propose an improved artificially weighted spanning tree coverage (IAWSTC) algorithm for distributed path planning of multiple flying robots. The proposed approach is suitable environment exploration in cluttered regions, where unexpected obstacles can appear. addition, present online re-planner smoothing with detected obstacles. To validate our approach, performed simulations and real robot experiments. results showed that produces sub-regions less redundancy than its previous version.

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ژورنال

عنوان ژورنال: Drones

سال: 2022

ISSN: ['2504-446X']

DOI: https://doi.org/10.3390/drones7010009