Online Evasive Strategy for Aerial Survey using Sierpinski curve

Abstract

This paper deals with the aerial survey of a closed region using the Space-Filling curve, particularly Sierpinski curve. The specified region is triangulated, and the Sierpinski curve is used to explore each triangular region. The entire region may have one or more obstacles. An algorithm is presented which suggests evasive maneuver if an obstacle is detected. The algorithm is online; that is, it does not require prior knowledge of the location of obstacles and can be used while the robotic system traverses the designated path. The fractal nature of the Sierpinski curve and simple geometric observations were used to formulate and validate the algorithm. The non-uniform coverage and multiple obstacle problems are also dealt with towards the end.