Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions
As an important branch of path planning, coverage path planning (CPP) is widely used for unmanned aerial vehicles (UAVs) to cover target regions with lower energy consumption. Most current works focus on convex regions, whereas others need pre-decomposition to deal with non-convex or mixed regions....
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| Format: | Article |
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MDPI AG
2024-12-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/12/776 |
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| author | Li Wang Xiaodong Zhuang Wentao Zhang Jing Cheng Tao Zhang |
| author_facet | Li Wang Xiaodong Zhuang Wentao Zhang Jing Cheng Tao Zhang |
| author_sort | Li Wang |
| collection | DOAJ |
| description | As an important branch of path planning, coverage path planning (CPP) is widely used for unmanned aerial vehicles (UAVs) to cover target regions with lower energy consumption. Most current works focus on convex regions, whereas others need pre-decomposition to deal with non-convex or mixed regions. Therefore, it is necessary to pursue a concise and efficient method for the latter. This paper proposes a two-stage method named Shrink-Segment by Dynamic Programming (SSDP), which aims to cover mixed regions with limited energy. First, instead of decomposing and then planning, SSDP formulates an optimal path by shrinking the rings for mixed regions. Second, a dynamic programming (DP)-based approach is used to segment the overall path for UAVs in order to meet energy limits. Experimental results show that the proposed method achieves less path overlap and lower energy consumption compared to state-of-the-art methods. |
| format | Article |
| id | doaj-art-ebb440e2f91a4ddbbae80f1b04dfd1b0 |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-ebb440e2f91a4ddbbae80f1b04dfd1b02025-08-20T02:00:37ZengMDPI AGDrones2504-446X2024-12-0181277610.3390/drones8120776Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed RegionsLi Wang0Xiaodong Zhuang1Wentao Zhang2Jing Cheng3Tao Zhang4School of Software, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Software, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Software, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Computer Science and Engineering, Xi’an Technological University, Xi’an 710021, ChinaSchool of Software, Northwestern Polytechnical University, Xi’an 710072, ChinaAs an important branch of path planning, coverage path planning (CPP) is widely used for unmanned aerial vehicles (UAVs) to cover target regions with lower energy consumption. Most current works focus on convex regions, whereas others need pre-decomposition to deal with non-convex or mixed regions. Therefore, it is necessary to pursue a concise and efficient method for the latter. This paper proposes a two-stage method named Shrink-Segment by Dynamic Programming (SSDP), which aims to cover mixed regions with limited energy. First, instead of decomposing and then planning, SSDP formulates an optimal path by shrinking the rings for mixed regions. Second, a dynamic programming (DP)-based approach is used to segment the overall path for UAVs in order to meet energy limits. Experimental results show that the proposed method achieves less path overlap and lower energy consumption compared to state-of-the-art methods.https://www.mdpi.com/2504-446X/8/12/776coverage path planningunmanned aerial vehiclenon-convex regionshrinking ringsenergy consumption |
| spellingShingle | Li Wang Xiaodong Zhuang Wentao Zhang Jing Cheng Tao Zhang Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions Drones coverage path planning unmanned aerial vehicle non-convex region shrinking rings energy consumption |
| title | Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions |
| title_full | Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions |
| title_fullStr | Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions |
| title_full_unstemmed | Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions |
| title_short | Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions |
| title_sort | coverage path planning for uavs an energy efficient method in convex and non convex mixed regions |
| topic | coverage path planning unmanned aerial vehicle non-convex region shrinking rings energy consumption |
| url | https://www.mdpi.com/2504-446X/8/12/776 |
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