Oct 2026· Kibernetyka ta Systemnyi Analiz· pp. 179-192· 0 citations· 19 references
Abstract
Modern Unmanned Aerial Vehicle (UAV) missions can be complex, requiring navigation over diverse landscapes in both urban settings (e.g., accounting for building heights) and natural environments (e.g., considering the elevations of mountains, hills, valleys, and forests), while also factoring in high-risk zones. The efficiency of path planning using common algorithms, along with the assessment of potential performance metrics (such as energy consumption, the number of target waypoints, and the requirements for visual observation in specialized missions), necessitates the development of an initial flight scenario and route plan. This allows for preliminary evaluations of the UAV mission plan. This article reviews established approaches to representing terrain in a mathematical models suitable for use with well-known routing algorithms. Furthermore, it proposes an original approach to representing the landscape of arbitrary terrain in the form of a specialized weighted graph.
Keywords: mathematical landscape modeling, UAV path planning, multi-criteria optimization, weighted graph models, digital terrain models (DTM), UAV trajectory optimization.
Addressing the challenge of urban low-altitude drone operations where achieving simultaneous accessibility, real-time performance, and path quality under large-scale maps, dense building clusters, and unknown obstacles proves difficult, this paper proposes a hierarchical planning methodology tailored for urban environm...
Tie-Yan Zhang, Hui Liu· International Conference on...· 0 citations
Unmanned aerial vehicles are increasingly used in complex field missions such as infrastructure inspection and terrain mapping. Path planning is a core technology for ensuring operational quality and efficiency. Complex terrain environments often contain no-fly zones and mountain obstacles. In such environments, the cl...
Unmanned Aerial Vehicles (UAVs) are becoming vital in many fields like robotics and aerospace. UAVs have many applications, ranging from delivering goods in disaster areas to agriculture. To make sure UAVs complete their mission efficiently, path planning becomes an important problem. The traditional models of path pla...
Between 2018 and 2023, more than 3,600 forest fires were recorded across Kazakhstan, burning 561,000 hectares and causing losses exceeding 192.8 billion tenge. Fire-prone zones such as the Borovoe forest area of Akmola region illustrate a problem that field commanders routinely face: when several ignition sites are det...
Б. Салауат, И. Захаров, А. С. Кусаинов et al.· Eurasian Journal of Applied...· 0 citations
Simulation experiments show that in a complex obstacle environment of 100m × 100m× 100m, the IAGA algorithm can effectively plan the optimal path, and the convergence speed is significantly improved compared to traditional genetic algorithms, verifying the effectiveness and robustness of this method in handling multi-c...
Qian Wan, Tian-En Lu, Liquan Huang et al.· International Conference on...· 0 citations
ABSTRACT: This study presents an optimized mission planning strategy for agricultural unmanned aerial vehicles (UAVs) that integrates battery endurance constraints into the coverage path planning (CPP) problem. The primary objective was to minimize total mission time by optimizing the sweep direction (θ) and automatica...
F. A. Lara-Molina· Ciência Rural· 0 citations
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