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http://dx.doi.org/10.20910/JASE.2020.14.5.9

Three-dimensional Energy-Aware Path Planning for Quadcopter UAV  

Kim, Hyowon (Pusan National University)
Jeong, Jinseok (Pusan National University)
Kang, Beomsoo (Pusan National University)
Publication Information
Journal of Aerospace System Engineering / v.14, no.5, 2020 , pp. 9-17 More about this Journal
Abstract
Mobile robots, including UAVs perform missions with limited fuel. Therefore, the energy-aware path planning is required to maximize efficiency when the robot is operated for a long time. In this study, we estimated the power consumption for each maneuver of a quadcopter UAV in the 3D environment and applied to the cost functions of D⁎ Lite. The simulations were performed in a 3D environment that is similar to the industrial sites. The efficiency of path generation was high when the energy-aware path planning with simplified heuristic was applied. In addition, the energy-aware path was generated 19.3 times faster than the shortest path with a difference within 3.2%.
Keywords
Quadcopter UAV; Energy Consumption; 3D Path Planning; Heuristic; $D^{\ast}$ Lite;
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Times Cited By KSCI : 2  (Citation Analysis)
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