Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue
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Maritime Safety and Environmental Research Division, Korea Research Institute of Ships and Ocean Engineering, 32, Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon 34103, Korea
2
Department of Software, Korea Aerospace University, 76, Hanggongdaehak-ro, Deogyang-gu, Goyang-si 10540, Korea
*
Author to whom correspondence should be addressed.
Academic Editors: Cláudio Alves and Telmo Pinto
Mathematics 2022, 10(1), 83; https://doi.org/10.3390/math10010083
Received: 18 November 2021
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Revised: 22 December 2021
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Accepted: 23 December 2021
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Published: 27 December 2021
(This article belongs to the Special Issue Operations Research and Optimization)
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.
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Keywords:
mixed integer linear programming model; multi-UAV coverage path planning; hexagonal grid decomposition; maritime search and rescue
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MDPI and ACS Style
Cho, S.-W.; Park, J.-H.; Park, H.-J.; Kim, S. Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue. Mathematics 2022, 10, 83. https://doi.org/10.3390/math10010083
AMA Style
Cho S-W, Park J-H, Park H-J, Kim S. Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue. Mathematics. 2022; 10(1):83. https://doi.org/10.3390/math10010083
Chicago/Turabian StyleCho, Sung-Won, Jin-Hyoung Park, Hyun-Ji Park, and Seongmin Kim. 2022. "Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue" Mathematics 10, no. 1: 83. https://doi.org/10.3390/math10010083
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