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Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue

Authors
Cho, Sung-WonPark, Jin-HyoungPark, Hyun-JiKim, Seongmin
Issue Date
Jan-2022
Publisher
MDPI AG
Keywords
Hexagonal grid decomposition; Maritime search and rescue; Mixed integer linear programming model; Multi-UAV coverage path planning
Citation
Mathematics, v.10, no.1, pp.83
Journal Title
Mathematics
Volume
10
Number
1
Start Page
83
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/7583
DOI
10.3390/math10010083
ISSN
2227-7390
Abstract
<jats:p>In the event of a maritime accident, surveying the maximum area efficiently in the least amount of time is crucial for rescuing survivors. Increasingly, unmanned aerial vehicles (UAVs) are being used in search and rescue operations. This study proposes a method to generate a search path that covers all generated nodes in the shortest amount of time with multiple heterogeneous UAVs. The proposed model, which is a mixed-integer linear programming (MILP) model based on a hexagonal grid-based decomposition method, was verified through a simulation analysis based on the performance of an actual UAV. This study presents both the optimization technique’s calculation time as a function of the search area size and the various UAV routes derived as the search area grows. The results of this study can have wide-ranging applications for emergency search and rescue operations.</jats:p>
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