Energy‐optimal coverage path planning on topographic map for environment survey with unmanned aerial vehicles. Issue 9 (11th April 2016)

• Record Type: Journal Article
• Authors: Li, Deshi; Wang, Xiaoliang; Sun, Tao
• Is Part Of: Electronics letters. Volume 52:Issue 9(2016)
• Page Start: 699
• Page End: 701
• Publication Date: 2016-04-11
• Subjects: path planning -- autonomous aerial vehicles -- tensors -- directed graphs -- genetic algorithms -- aerospace control; topographic map -- unmanned aerial vehicles -- environment survey -- energy optimal coverage path planning algorithm -- tensor product Bezier surfaces -- mesh representation -- power estimator -- piecewise spatial path -- digital surface model -- weighted directed graph -- genetic algorithm -- energy optimal path; Electronics -- Periodicals; 621.381
• DOI: 10.1049/el.2015.4551
• Languages: English
• ISSNs: 0013-5194

Abstract

Abstract : An energy‐optimal coverage path planning algorithm is proposed for environment survey. First, 3D terrains are modelled by tensor product Bezier surfaces for a mesh representation. Then, a power estimator is derived to calculate the consumed energy for a piecewise spatial path. Based on the digital surface model, an energy consumption map is constructed for the whole area by means of a weighted directed graph. Finally, an energy‐optimal path can be achieved through traversing the map by a genetic algorithm. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.