Energy-aware Multi-UAV Coverage Mission Planning with Optimal Speed of Flight
| Autor: | Datsko, Denys, Nekovar, Frantisek, Penicka, Robert, Saska, Martin |
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| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2893-2900, March 2024 |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/LRA.2024.3358581 |
| Popis: | This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However, the typical path-length objective of existing approaches does not directly minimize the energy consumption, nor allows for constraining energy of individual paths by the battery capacity. To this end, we propose a novel mCPP method that uses the optimal flight speed for minimizing energy consumption per traveled distance and a simple yet precise energy consumption estimation algorithm that is utilized during the mCPP planning phase. The method decomposes a given area with boustrophedon decomposition and represents the mCPP as an instance of Multiple Set Traveling Salesman Problem with a minimum energy objective and energy consumption constraint. The proposed method is shown to outperform state-of-the-art methods in terms of computational time and energy efficiency of produced paths. The experimental results show that the accuracy of the energy consumption estimation is on average 97% compared to real flight consumption. The feasibility of the proposed method was verified in a real-world coverage experiment with two UAVs. Comment: in IEEE Robotics and Automation Letters |
| Databáze: | arXiv |
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