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.

翻译：COVID-19的这一大流行病正在对全球人口的健康造成毁灭性影响,在防止病毒传播方面作出了若干努力,其中,清洁和消毒公共区已成为重要的任务。为了推动这一方向,本文件提议为喷洒无人驾驶飞机提供覆盖路径规划算法,喷洒无人驾驶飞机是一个已安装喷雾器/喷雾器系统的微型航空飞行器,用于消毒区。与最先进的规划者相比,本提案提出了一种新的喷雾器/喷雾器模型,适合更现实的传播量,二)有效限制向利益区飞行的计划算法,避免在封闭的场景中发生潜在碰撞。使用这种算法的无人机已经在几个模拟场上进行了测试,表明这种算法是有效的,涉及文学中其他方法的更多领域。请注意,该提案并不局限于消毒应用,而是可以适用于其他方法,例如油漆或精准农业。