Path Planning of Electric VTOL UAV Considering Minimum Energy Consumption in Urban Areas

As a new mode of transportation in the future, electric vertical take-off and landing unmanned aerial vehicles (eVTOL UAV) can undertake task logistics distribution carry people urban areas. It is challenging to out research designed plan path eVTOL UAVs which have safe sustainable operation Therefore, this work proposes method for planning an obstacle-free areas with goal minimizing energy consumption. aims improve safety sustainability UAV operations. Based on variations air density height, more accurate formula calculating battery consumption derived. used takeoff phase horizontal flight phase, respectively. Considering influence buildings operation, applicable complex environments proposed. The nodes are obtained by using Voronoi diagrams based building locations. Then, complete shortest Dubins geometric Floyd algorithm. After obtaining paths all height zones, each zone calculated. minimum obtained. simulation results show that length proposed shorter than particle swarm optimization; total changes same pattern low-altitude high-altitude areas; difference between maximum small area enables cover about 350 m more, 420 large area. future high-frequency mission flights, choosing altitude lowest reduce operator costs. also significantly increase transport range make operate sustainably.