Energy-optimal coverage path planning on topographic map for environment survey with unmanned aerial vehicles

被引：30

作者：

Li, Deshi ^{[1
,2
]}

Wang, Xiaoliang ^{[1
]}

Sun, Tao ^{[1
]}

机构：

[1] Wuhan Univ, Elect Informat Sch, Wuhan 430072, Peoples R China

[2] Collaborat Innovat Ctr Geospatial Technol, 129 Luoyu Rd, Wuhan, Peoples R China

来源：

ELECTRONICS LETTERS | 2016年 / 52卷 / 09期

基金：

中国国家自然科学基金;

关键词：

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;

D O I：

10.1049/el.2015.4551

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：699 / 700

页数：2