Coverage Path Planning Based on the Optimization Strategy of Multiple Solar Powered Unmanned Aerial Vehicles

In some specific conditions, UAVs are required to obtain comprehensive information of an area or operate in the all-round way. this case, coverage path planning (CPP) is required. This paper proposes a solution solve problem short endurance time multi-solar unmanned aerial vehicles (UAVs). Firstly, energy flow efficiency based on model proposed evaluate utilization during operation. Moreover, for areas with and without obstacles, optimization undirected graph search method. The constraint equation defined restrict UAV from accessing according certain rules. A mixed integer linear programming (MILP) determine flight each objective minimizing operation time. Through simulation experiment, compared Boustrophedon Cellular Decomposition method planning, it seen that completion greatly improved. addition, considering impact attitude angle solar powered when turning, total as objective. bi-objective established CPP. large number experiments show selects different objectives applies shapes be covered, which has wide applicability strong feasibility.