The COVID-19 pandemic is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas has become an important task. This task is not restricted to disinfection, but it is also applied to painting or precision agriculture. Current state of the art planners determine a route, but they do not consider that the plan will be executed in closed areas or they do not model the sprinkler coverage. In this paper, we propose a coverage path planning algorithm for area disinfection, our method considers the scene restrictions as well as the sprinkler coverage. We have tested the method in several simulation scenes . Our experiments show that the method is efficient and covers more areas with respect to current methods .
The pandemic by COVID-19 is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas have become important tasks. In order to contribute in this direction, this paper proposes a coverage path planning algorithm for a spraying drone, a micro aerial vehicle that has mounted a sprayer/sprinkler system, to disinfect areas. In contrast with planners in the state-of-the-art, this proposal presents i) a new sprayer/sprinkler model that fits a more realistic coverage volume to the drop dispersion and ii) a planning algorithm that efficiently restricts the flight to the region of interest avoiding potential collisions in bounded scenes. The drone with the algorithm has been tested in several simulation scenes , showing that the algorithm is effective and covers more areas with respect to other approaches in the literature. Note that the proposal is not limited to disinfection applications, but can be applied to other ones, such as painting or precision agriculture .
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COVID-19 pandemic
pandemic by COVID-19
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has become an important task. This task is not restricted to disinfection, but it is also applied to painting or precision agriculture. Current state of the art planners determine a route, but they do not consider that the plan will be executed in closed areas or they do not model the sprinkler coverage. In this paper, we propose a coverage path planning algorithm for area disinfection, our method considers the scene restrictions as well as the sprinkler coverage. We have tested the method
have become important tasks. In order to contribute in this direction, this paper proposes a coverage path planning algorithm for a spraying drone, a micro aerial vehicle that has mounted a sprayer/sprinkler system, to disinfect areas. In contrast with planners in the state-of-the-art, this proposal presents i) a new sprayer/sprinkler model that fits a more realistic coverage volume to the drop dispersion and ii) a planning algorithm that efficiently restricts the flight to the region of interest avoiding potential collisions in bounded scenes. The drone with the algorithm has been tested
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. Our experiments show that the method is efficient
, showing that the algorithm is effective
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current methods
other approaches in the literature. Note that the proposal is not limited to disinfection applications, but can be applied to other ones, such as painting or precision agriculture