Anees ul Husnain1, Norrima Binti Mokhtar1, Noraisyah Binti Mohamed Shah1, Mahidzal Bin Dahari1, Muhammad Syazni Ikmal Bin Ramlee1, Heshalini Rajagopal2, Masahiro Iwahashi3
1Applied Control and Robotics Laboratory, Level 4 Blok M, Faculty of Engineering,
University of Malaya, 50603 Kuala Lumpur, Malaysia
2Institute of Computer Science and Digital Innovation, UCSI University,
56000 Kuala Lumpur, Malaysia
3Information, Telecommunication and Control System Group, Nagaoka University
of Technology, Niigata, Japan
pp. 43–53
ABSTRACT
Efficient strategies for achieving comprehensive area coverage are imperative
in the context of search and exploration missions carried out by patrolling
UAVs. Diverse methodologies pertaining to coverage path planning were meticulously
examined and assessed within the ROS-Gazebo simulation environment, utilizing
the Hector quadrotor model. While the concept of opting for an optimal
coverage-oriented path is captivating, it necessitates a trade-off, as
it often demands a higher frequency of maneuvers to effectively encompass
the designated region. Furthermore, the typical oversight of the robots'
hardware limitations is prevalent. This study undertook an analysis of
the interplay between coverage area and coverage path, employing techniques
such as raster-scan exploration, expanding spiral searches, and zigzag
pattern coverage, all aimed at enhancing the selection of the most appropriate
path. Furthermore, this research delved into investigating the implications
arising from the hardware limitations intrinsic to the Hector quadrotor
UAV when simulated within the ROS environment. The assessment metrics encompassed
variables including the proportion of the area covered, the count of executed
turns, and the time taken by the UAV to complete the maneuvers. The outcomes
strongly advocate for the inclusion of hardware limitations in both path
planning and path structure considerations in order to attain optimal outcomes.
ARTICLE INFO
Article History
Received 01 November 2022
Accepted 01 September 2023
Keywords
Area coverage
Path planning
Coverage path
UAVs
ROS
Gazebo
JRNAL10107
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