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Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue

Author

Listed:
  • Sung-Won Cho

    (Maritime Safety and Environmental Research Division, Korea Research Institute of Ships and Ocean Engineering, 32, Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon 34103, Korea)

  • Jin-Hyoung Park

    (Maritime Safety and Environmental Research Division, Korea Research Institute of Ships and Ocean Engineering, 32, Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon 34103, Korea)

  • Hyun-Ji Park

    (Maritime Safety and Environmental Research Division, Korea Research Institute of Ships and Ocean Engineering, 32, Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon 34103, Korea)

  • Seongmin Kim

    (Department of Software, Korea Aerospace University, 76, Hanggongdaehak-ro, Deogyang-gu, Goyang-si 10540, Korea)

Abstract

In the event of a maritime accident, surveying the maximum area efficiently in the least amount of time is crucial for rescuing survivors. Increasingly, unmanned aerial vehicles (UAVs) are being used in search and rescue operations. This study proposes a method to generate a search path that covers all generated nodes in the shortest amount of time with multiple heterogeneous UAVs. The proposed model, which is a mixed-integer linear programming (MILP) model based on a hexagonal grid-based decomposition method, was verified through a simulation analysis based on the performance of an actual UAV. This study presents both the optimization technique’s calculation time as a function of the search area size and the various UAV routes derived as the search area grows. The results of this study can have wide-ranging applications for emergency search and rescue operations.

Suggested Citation

  • Sung-Won Cho & Jin-Hyoung Park & Hyun-Ji Park & Seongmin Kim, 2021. "Multi-UAV Coverage Path Planning Based on Hexagonal Grid Decomposition in Maritime Search and Rescue," Mathematics, MDPI, vol. 10(1), pages 1-15, December.
    • Handle: RePEc:gam:jmathe:v:10:y:2021:i:1:p:83-:d:712016
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    References listed on IDEAS

    as
    1. Abi-Zeid, Irene & Frost, John R., 2005. "SARPlan: A decision support system for Canadian Search and Rescue Operations," European Journal of Operational Research, Elsevier, vol. 162(3), pages 630-653, May.
    2. Mumtaz Karatas & Nasuh Razi & Murat M. Gunal, 2017. "An ILP and simulation model to optimize search and rescue helicopter operations," Journal of the Operational Research Society, Palgrave Macmillan;The OR Society, vol. 68(11), pages 1335-1351, November.
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