3D Multi-Camera Coverage Control of Unmanned Aerial Multirotors

Unmanned aerial vehicles (UAVs) are gaining a lot of attentions over the past two decades. They have a wide range of civil applications such as for persistent surveillance, exploration, and rescue, monitoring operations in hazardous environment and providing mobile sensor networks. Currently, an important issue in UAVs is coverage control, especially in 3D space. In this paper, we propose a 3D coverage control. First, we consider a wall coverage issue in a 3D environment. The approach is to design a view angle and occlusion which intersects with the wall. For each UAV, it is a distributed coverage control with exchanging neighbouring UAV information. Subsequently, we extend this approach to cover a 3D polyhedron form. Finally, the proposed 3D coverage control algorithm is tested in two case studies and the results show that the proposed method is effective.