Multi-target Coverage Control Strategy Based on UAV

This paper presents a method to cover multiple targets on the ground by using a group of unmanned aerial vehicles (UAVs). The Voronoi partition method in traditional coverage control is only applicable to compact and convex coverage spaces. To eliminates this restriction, the coverage algorithm using k-means is proposed in this paper. In the algorithm, we use k-means to cluster the targets according to the number of UAVs, and the cluster centers are set as the expected positions of UAVs. After the expected positions of UAVs are calculated by the coverage algorithm, a sliding mode controller is proposed to drive the UAVs to reach the deployment positions. And a Lyapunov function is designed to prove the stability of the controller. At last, we design a simulation to verify the performance of the controller and the algorithm.