Paper ID: 2411.07053 • Published Nov 11, 2024
UAV survey coverage path planning of complex regions containing exclusion zones
Shadman Tajwar Shahid, Shah Md. Ahasan Siddique, Md. Mahidul Alam
TL;DR
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This article addresses the challenge of UAV survey coverage path planning for
areas that are complex concave polygons, containing exclusion zones or
obstacles. While standard drone path planners typically generate coverage paths
for simple convex polygons, this study proposes a method to manage more
intricate regions, including boundary splits, merges, and interior holes. To
achieve this, polygonal decomposition techniques are used to partition the
target area into convex sub-regions. The sub-polygons are then merged using a
depth-first search algorithm, followed by the generation of continuous
Boustrophedon paths based on connected components. Polygonal offset by the
straight skeleton method was used to ensure a constant safe distance from the
exclusion zones. This approach allows UAV path planning in environments with
complex geometric constraints.