Grid-based methods have been proposed to solve the Coverage Path Planning problem using Unmanned Aerial Vehicles in irregular-shaped areas since simple geometric flight patterns, such as the back-and-forth, are inefficient in this type of scenario. However, the grid-based methods usually apply simplistic cost functions and demand high computational time leading to inefficient and expensive paths, making them not usable in real-world scenarios. This paper introduces an energy-aware grid-based approach aimed at minimizing energy consumption during mapping missions over irregular-shaped areas. Our work was built upon a previously proposed grid-based approach. Here we introduce an energy-aware cost function based on an accurate energy model. The proposed approach was able to save up to 17% of energy in real flight experiments, proving that the original cost function was not capable of finding the optimal solution in terms of real energy measurements. Additional simulation experiments were also performed to state the energy savings in different irregular-shaped scenarios. As a further contribution, we also applied two pruning techniques to the original approach dropping the computation time up to 99%.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Grid-Based Coverage Path Planning With Minimum Energy Over Irregular-Shaped Areas With Uavs


    Beteiligte:


    Erscheinungsdatum :

    2019-06-01


    Format / Umfang :

    1461981 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Clustering-Based Multi-Region Coverage-Path Planning of Heterogeneous UAVs

    Peng Xiao / Ni Li / Feng Xie et al. | DOAJ | 2023

    Freier Zugriff

    A Clustering-Based Coverage Path Planning Method for Autonomous Heterogeneous UAVs

    Chen, Jinchao / Du, Chenglie / Zhang, Ying et al. | IEEE | 2022


    Systematically Improving the Efficiency of Grid-Based Coverage Path Planning Methodologies in Real-World UAVs’ Operations

    Savvas D. Apostolidis / Georgios Vougiatzis / Athanasios Ch. Kapoutsis et al. | DOAJ | 2023

    Freier Zugriff