Time-Efficient Coverage Path Planning for Energy-Constrained UAV

Unmanned aerial vehicles (UAVs) have the characteristics of high mobility and wide coverage, making them widely used in search, other fields. In these applications, UAV often has limited energy. Therefore, planning a time-efficient coverage path for energy-constrained to cover area interest is core issue. The existing algorithms assume that moves at constant speed, without taking into account cost turns (including deceleration, turning, acceleration), which unrealistic. To solve above problem, we propose (TECPP) algorithm UAV. We build novel gadget-based graph model, formalizes time energy costs flight including straight flights (deceleration, acceleration). Moreover, our model suitable irregular-shaped areas with multiple obstacles. Finally, transform problem generalized traveling salesman (GTSP) use large neighborhood search (GLNS) solver it. experimental results show TECPP outperforms algorithms, saves least 21.6% time.