An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

A path planning strategy for a search and coverage mission for a small unmanned aerial vehicle (UAV) that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of flight. Comparisons of this formulation to a path planning algorithm based on those with time constraint show equivalent coverage performance but improvement in prediction of overall mission duration and accuracy of the terminal position of the vehicle.


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  • Accession Number: 01636245
  • Record Type: Publication
  • Files: TRIS
  • Created Date: May 26 2017 11:31AM