Efficient Energy Flight Path Planning Algorithm Using 3-D Visibility Roadmap for Small Unmanned Aerial Vehicle

摘要: This paper presents the flight path planning algorithm in a 3-dimensional environment with fixed obstacles for small unmanned aerial vehicles (SUAVs). The emergence of SUAVs commercial uses low-altitude necessitates efficient concerning economical energy consumption. We propose visibility roadmap based on graph approach to deal this uprising problem. objective is approximate collision-free and energy-efficient missions considerable time complexity. Stepwise, we describe construction proposed pathfinding convex static obstacle environment. theoretical analysis simulation results prove effectiveness our method.