Region Coverage Flight Path Planning Using Multiple UAVs to Monitor the Huge Areas

The development of a coverage flight planner for multiple multicopters used in a wide-area survey, such as inspecting the storage site of radioactive decontaminated soil or searching for victims in disaster response, is proposed. For these multiple multicopter application cases, effective coverage flight path planning with no collisions is needed. In this paper, we developed two parts of the system where the region is separated by two approaches and quasi-optimal flight paths for each region. As a result, each of the two region divisions showed a good equally divided region, and a flight path designed on the two region divisions was also efficiently generated. Flight tests of two multicopters with the generated paths were also conducted.