Abstract
Efficient strategies for achieving comprehensive area coverage are imperative in the context of search and exploration missions carried out by patrolling UAVs. Diverse methodologies pertaining to coverage path planning were meticulously examined and assessed within the ROS-Gazebo simulation environment, utilizing the Hector quadrotor model. While the concept of opting for an optimal coverage-oriented path is captivating, it necessitates a trade-off, as it often demands a higher frequency of maneuvers to effectively encompass the designated region. Furthermore, the typical oversight of the robots' hardware limitations is prevalent. This study undertook an analysis of the interplay between coverage area and coverage path, employing techniques such as raster-scan exploration, expanding spiral searches, and zigzag pattern coverage, all aimed at enhancing the selection of the most appropriate path. Furthermore, this research delved into investigating the implications arising from the hardware limitations intrinsic to the Hector quadrotor UAV when simulated within the ROS environment. The assessment metrics encompassed variables including the proportion of the area covered, the count of executed turns, and the time taken by the UAV to complete the maneuvers. The outcomes strongly advocate for the inclusion of hardware limitations in both path planning and path structure considerations in order to attain optimal outcomes.
https://ror.org/00rzspn62 
