![]() ![]() 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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