Energy efficient path planning techniques for UAV-based systems with space discretization
作者： Shaimaa Ahmed , Amr Mohamed , Khaled Harras , Mohamed Kholief , Saleh Mesbah
DOI: 10.1109/WCNC.2016.7565126
关键词: Motion planning 、 Heuristic 、 Collision avoidance 、 Mathematical optimization 、 Any-angle path planning 、 Discretization 、 Assignment problem 、 Efficient energy use 、 Energy consumption 、 Heuristic (computer science) 、 Computer science
摘要: Unmanned Aerial Vehicles are miniature air-crafts that have proliferated in many military and civil applications. Their affordability allows for tasks to be held with not just one but a fleet of UAVs. One the problems arise use multi-UAVs is multi-UAV path planning assignment problem. We propose three algorithms aim at assigning energy efficient trajectories Our optimal solution (OPP) formulated using Mixed Integer Linear Programming model (MILP). also two other heuristic solutions greedy nature; namely, Greedy Least Cost (GLC) First Detect Reserve (FDFR). To aid collision avoidance, we adopt concept space discretization, present more realistic view UAV occupies. The comparative study our proposed reveals insightful trade-offs between consumption complexity.
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