Coverage Path Planning Using a Group of UAVs

Bouras Abdelwahhab, Bouzid Yasser, Cherifi Youcef, Guiatni Mohamed

2025

Abstract

This article introduces a novel methodology of path planning within a group of Unmanned Aerial Vehicles (UAVs) for aerial detection. The primary aim of this method is to ensure comprehensive coverage of a designated Region of Interest (RoI) while taking measurements from the entire region. The proposed methodology operates through a structured yet adaptive three-phase process. First, the RoI is transformed into a discrete representation using a meshing algorithm, ensuring a well-defined and homogeneous spatial structure for subsequent planning. This discretized space is then well partitioned into subregions via the K-means clustering algorithm, optimizing workload distribution among UAVs while preserving spatial coherence. Finally, the path of each UAV is formulated as a Traveling Salesman Problem (TSP) and solved using an enhanced Genetic Algorithm (GA). Specifically, this GA is tailored to accelerate convergence and yield optimized paths. The principal advantages of the proposed method, as demonstrated through simulation experiments, are its optimization capabilities, flexibility and reduction in computational time.

Paper Citation

in Harvard Style

Abdelwahhab B., Yasser B., Youcef C. and Mohamed G. (2025). Coverage Path Planning Using a Group of UAVs. In Proceedings of the 15th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH; ISBN 978-989-758-759-7, SciTePress, pages 159-165. DOI: 10.5220/0013421200003970

in Bibtex Style

@conference{simultech25,
author={Bouras Abdelwahhab and Bouzid Yasser and Cherifi Youcef and Guiatni Mohamed},
title={Coverage Path Planning Using a Group of UAVs},
booktitle={Proceedings of the 15th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH},
year={2025},
pages={159-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013421200003970},
isbn={978-989-758-759-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH
TI - Coverage Path Planning Using a Group of UAVs
SN - 978-989-758-759-7
AU - Abdelwahhab B.
AU - Yasser B.
AU - Youcef C.
AU - Mohamed G.
PY - 2025
SP - 159
EP - 165
DO - 10.5220/0013421200003970
PB - SciTePress