A control algorithm for co-operatively aerial survey by using multiple UAVs

This paper addresses a coverage path planning algorithm for multiple Unmanned Aerial vehicles (UAV). The N number of UAVs are simultaneously planning the path to survey a given region. During the path planning, they avoid to survey the user defined no fly zone or obstacles. The proposed algorithm produces M number of ways to survey the region co-operatively. Out of those M ways the best solution is suggested by an objective function. The objective function is designed to calculate paths which will most equally distribute the work among the N number of UAVs. The main advantage of multiple UAVs over single UAV is redundancy. This implies that in case of failure of any of the UAV during survey operation, other UAV will compensate for the remaining uncovered area and thereby not affect the assigned mission target. This feature also included and testing within the Algorithm.