Optimization method for coverage path planning of multi-solar powered UAVs

DU Nannan; CHEN Jian; MA Ben; WANG Shubo; ZHANG Zichao

doi:10.7527/S1000-6893.2020.24476

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2021 , Vol. 42 >Issue 6: 324476 - 324476

DOI: https://doi.org/10.7527/S1000-6893.2020.24476

Electronics and Electrical Engineering and Control

Optimization method for coverage path planning of multi-solar powered UAVs

DU Nannan ,
CHEN Jian ,
MA Ben ,
WANG Shubo ,
ZHANG Zichao

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1. College of Engineering, China Agricultural University, Beijing 100083, China;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;
3. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

Received date: 2020-07-02

Revised date: 2020-07-27

Online published: 1900-01-01

Supported by

National Key R&D Program of China (2018YFD0700603, 2017YFD0701003); National Natural Science Foundation of China (51979275); Jilin Province Key R&D Plan Project (20180201036SF); Open Research Fund of State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (19R06); 2115 Talent Development Program of China Agricultural University

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Abstract

To solve the problem of short endurance of traditional electric UAVs during coverage operations, this paper proposes to use multiple solar powered UAVs for coverage operations. Firstly, an energy model for the coverage operations of the solar powered UAV is established, and the index of energy flow efficiency is proposed to evaluate the energy utilization rate of the solar powered UAV during the operation. Secondly, to get the shortest overall operation time, a coverage path optimization model based on the undirected graph search method is proposed for the concave polygon region with obstacles on the boundary and the polygon area with obstacles inside. The constraint equations are defined to restrict the UAV to visit the nodes of the undirected graph according to certain rules, and the optimal flight path of each UAV is solved by the method of mixed integer linear programming. Thirdly, considering the influence of attitude change on energy flow efficiency when the UAV turns, a double objective optimization equation is established to obtain the shortest operation time and the highest energy flow efficiency at the same time. After obtaining the shortest operation time, the coverage flight direction and flight path with the relatively optimal energy flow efficiency and operation time are selected through the limited traversal method. A large number of simulation experiments show that the optimization model proposed selects different optimization objectives and can be applied to different shapes of areas to be covered, and has wide applicability and strong feasibility in Engineering practice.

Key words： solar powered UAV; energy flow efficiency; undirected graph search; coverage path optimization model; double objectives optimization

Cite this article

DU Nannan , CHEN Jian , MA Ben , WANG Shubo , ZHANG Zichao . Optimization method for coverage path planning of multi-solar powered UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021 , 42(6) : 324476 -324476 . DOI: 10.7527/S1000-6893.2020.24476

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