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. 2022 Nov 25;22(23):9180.
doi: 10.3390/s22239180.

A Proposed System for Multi-UAVs in Remote Sensing Operations

Pablo Flores Peña  1   2 , Marco Andrés Luna  2   3 , Mohammad Sadeq Ale Isaac  3   4 , Ahmed Refaat Ragab  2   5   6 , Khaled Elmenshawy  6 , David Martín Gómez  1 , Pascual Campoy  3 , Martin Molina  7
Affiliations

A Proposed System for Multi-UAVs in Remote Sensing Operations

Pablo Flores Peña et al. Sensors (Basel). .

Abstract

This paper proposes the design of the communications, control systems, and navigation algorithms of a multi-UAV system focused on remote sensing operations. A new controller based on a compensator and a nominal controller is designed to dynamically regulate the UAVs' attitude. The navigation system addresses the multi-region coverage trajectory planning task using a new approach to solve the TSP-CPP problem. The navigation algorithms were tested theoretically, and the combination of the proposed navigation techniques and control strategy was simulated through the Matlab SimScape platform to optimize the controller's parameters over several iterations. The results reveal the robustness of the controller and optimal performance of the route planner.

Keywords: UAV-Swarm; control strategies; coverage path planning; remote sensing.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Communication architecture of UAV swarms based on FANET.
Figure 2
Figure 2
Block diagram of infrastructure (GCS)-based swarm architecture.
Figure 3
Figure 3
Mission operation schema.
Figure 4
Figure 4
Footprint schema in 2D routing mission.
Figure 5
Figure 5
A schematic of the TSP applied to the multi-UAV system. (a) Initial problem statement. (b) Centroids calculation in UAV locations and multiple regions. (c) TSP solution found in centroids.
Figure 5
Figure 5
A schematic of the TSP applied to the multi-UAV system. (a) Initial problem statement. (b) Centroids calculation in UAV locations and multiple regions. (c) TSP solution found in centroids.
Figure 6
Figure 6
Schema of area joining criteria.
Figure 7
Figure 7
Powell-BINPAT task assignment.
Figure 8
Figure 8
Results of the path-planning system for multiple UAVs and multiple areas: (a) two UAVs and two areas; (b) two UAVs and three areas; (c) two UAVs and four areas; (d) three UAVs and two areas; (e) three UAVs and three areas; (f) three UAVs and four areas; (g) four UAVs and two areas; (h) four UAVs and three areas; (i) four UAVs and four areas.
Figure 9
Figure 9
Powell-BINPAT task assignment.
Figure 10
Figure 10
The simulation diagram of three drones in a swarm application.
Figure 11
Figure 11
The simulation diagram of three drones in a swarm application.
Figure 12
Figure 12
The simulation results of three drones in a swarm application.
See this image and copyright information in PMC

References

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