Energy efficient path planning techniques for UAV-based systems with space discretization

Unmanned Aerial Vehicles are miniature air-crafts that have proliferated in many military and civil applications. Their affordability allows for tasks to be held with not just one but a fleet of UAVs. One of the problems that arise with the use of multi-UAVs is the multi-UAV path planning and assignment problem. We propose three algorithms that aim at assigning energy efficient trajectories for a fleet of UAVs. Our optimal path planning solution (OPP) is formulated using a Mixed Integer Linear Programming model (MILP). We also propose two other heuristic solutions that are greedy in nature; namely, Greedy Least Cost (GLC) and First Detect First Reserve (FDFR). To aid with collision avoidance, we adopt the concept of space discretization, and present a more realistic view of the space a UAV occupies. The comparative study of our proposed solutions reveals insightful trade-offs between energy consumption and complexity.