A Coverage Flight Path Planning for Multiple Multicopter to Apply on Huge Area

Abstract

We propose the development of a coverage flight planner that solves the domain coverage problem for the use of multicopters in wide-area surveys and other applications. In such multicopter application cases, collision-free and efficient coverage flight path planning is necessary. In this paper, two approaches to domain decomposition are separated and their optimality is discussed. In addition, a system is developed and demonstrated to set a flight path that is sub-optimal for each region. As a result, each of the two region partitions showed a good evenly divided region, and the flight paths designed on the two region partitions were also efficiently generated. In addition, flight tests of two multicopters were conducted using the generated flight paths.