Energy efficient path-planning for unmanned aerial vehicle

This project develops an efficient path-planning algorithm for an unmanned aerial vehicle (UAV) in obstacle-rich environments considering minimum energy consumption. UAV is increasingly being used to replace humans in performing risky missions in adverse environments. UAV normally gets its energy fr...

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Main Author:	Debnath, Sanjoy Kumar
Format:	Thesis
Language:	English English English
Published:	2022
Subjects:	TL Motor vehicles Aeronautics Astronautics
Online Access:	http://eprints.uthm.edu.my/8484/1/24p%20SANJOY%20KUMAR%20DEBNATH.pdf http://eprints.uthm.edu.my/8484/2/SANJOY%20KUMAR%20DEBNATH%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/8484/3/SANJOY%20KUMAR%20DEBNATH%20WATERMARK.pdf
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spelling	my-uthm-ep.84842023-04-02T00:52:13Z Energy efficient path-planning for unmanned aerial vehicle 2022-04 Debnath, Sanjoy Kumar TL Motor vehicles. Aeronautics. Astronautics This project develops an efficient path-planning algorithm for an unmanned aerial vehicle (UAV) in obstacle-rich environments considering minimum energy consumption. UAV is increasingly being used to replace humans in performing risky missions in adverse environments. UAV normally gets its energy from solar, hydrogen cell or li-ion batteries. However, these energy sources have limitations; for example, in a cloudy day, solar power might not be fully generated. This may result in the UAV to fail in accomplishing a given mission if its path is longer than necessary. Therefore, it is vital for the UAV to have a minimal path length which leads to the least energy consumption. The proposed path planning algorithm is called Iterative Elliptical- Convex Visibility Graph (IECoVG) which is based on visibility graph (VG) and Dijkstra’s algorithm. IECoVG limits the size of the search space which will in turn reduce the number of obstacles for path planning. Performance comparison through simulation in terms of computational time and path length between IECoVG andconventional VG as well as the Iterative Equilateral Space Oriented VG (IESOVG)has been executed. Identical scenarios have been applied in order to have a fair and conclusive result. The simulation shows that IECoVG improves the computation time up to 86 % due to its efficiency in selecting the search space. To further enhance IECoVG, flight cost, segment length, heading angle change and the UAV’s speed have also been considered as they proportionally affect the energy consumption of the UAV. The enhanced IECoVG named IECoVG+ can improve the energy consumption of the UAV by 10.42 %. 2022-04 Thesis http://eprints.uthm.edu.my/8484/ http://eprints.uthm.edu.my/8484/1/24p%20SANJOY%20KUMAR%20DEBNATH.pdf text en public http://eprints.uthm.edu.my/8484/2/SANJOY%20KUMAR%20DEBNATH%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/8484/3/SANJOY%20KUMAR%20DEBNATH%20WATERMARK.pdf text en validuser phd doctoral Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TL Motor vehicles Aeronautics Astronautics
spellingShingle	TL Motor vehicles Aeronautics Astronautics Debnath, Sanjoy Kumar Energy efficient path-planning for unmanned aerial vehicle
description	This project develops an efficient path-planning algorithm for an unmanned aerial vehicle (UAV) in obstacle-rich environments considering minimum energy consumption. UAV is increasingly being used to replace humans in performing risky missions in adverse environments. UAV normally gets its energy from solar, hydrogen cell or li-ion batteries. However, these energy sources have limitations; for example, in a cloudy day, solar power might not be fully generated. This may result in the UAV to fail in accomplishing a given mission if its path is longer than necessary. Therefore, it is vital for the UAV to have a minimal path length which leads to the least energy consumption. The proposed path planning algorithm is called Iterative Elliptical- Convex Visibility Graph (IECoVG) which is based on visibility graph (VG) and Dijkstra’s algorithm. IECoVG limits the size of the search space which will in turn reduce the number of obstacles for path planning. Performance comparison through simulation in terms of computational time and path length between IECoVG andconventional VG as well as the Iterative Equilateral Space Oriented VG (IESOVG)has been executed. Identical scenarios have been applied in order to have a fair and conclusive result. The simulation shows that IECoVG improves the computation time up to 86 % due to its efficiency in selecting the search space. To further enhance IECoVG, flight cost, segment length, heading angle change and the UAV’s speed have also been considered as they proportionally affect the energy consumption of the UAV. The enhanced IECoVG named IECoVG+ can improve the energy consumption of the UAV by 10.42 %.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Debnath, Sanjoy Kumar
author_facet	Debnath, Sanjoy Kumar
author_sort	Debnath, Sanjoy Kumar
title	Energy efficient path-planning for unmanned aerial vehicle
title_short	Energy efficient path-planning for unmanned aerial vehicle
title_full	Energy efficient path-planning for unmanned aerial vehicle
title_fullStr	Energy efficient path-planning for unmanned aerial vehicle
title_full_unstemmed	Energy efficient path-planning for unmanned aerial vehicle
title_sort	energy efficient path-planning for unmanned aerial vehicle
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2022
url	http://eprints.uthm.edu.my/8484/1/24p%20SANJOY%20KUMAR%20DEBNATH.pdf http://eprints.uthm.edu.my/8484/2/SANJOY%20KUMAR%20DEBNATH%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/8484/3/SANJOY%20KUMAR%20DEBNATH%20WATERMARK.pdf
_version_	1776103356838707200

Energy efficient path-planning for unmanned aerial vehicle

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