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


An energy-optimal coverage path planning algorithm is proposed for setting survey. 1st, 3D terrains are modelled by tensor product Bezier surfaces for a mesh illustration. Then, an influence estimator comes to calculate the consumed energy for a piecewise spatial path. Based on the digital surface model, an energy consumption map is constructed for the entire space by means of a weighted directed graph. Finally, an energy-optimal path will be achieved through traversing the map by a genetic algorithm. Numerical experiments demonstrate the effectiveness and potency of the proposed algorithm.

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