Spiral coverage path planning for Multi-UAV photovoltaic panel inspection applications

Abstract

This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for multi-region inspection with a swarm of UAVs are applied. The centralized system architecture is described, and an adaptive sliding mode controller is designed. Furthermore, we evaluate the performance of the proposed techniques by obtaining numerical results and simulations with the controller. The results show that the spiral pattern optimizes the cost of the mission and improves the task distribution of the mission planning system. Additionally, the performance of the proposed controller is robust to simulated disturbances.