Heuristic Drone Pathfinding Over Optimized Charging Station Grid
We proposed a novel optimisation framework for drone-based operations which consists of the optimised Charging Station (CS) grid and the pathfinding heuristics for the drone. The proposed pathfinding heuristics are assessed for two different (triangular and square) CS grid configurations that are op...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9645571/ |
| _version_ | 1818352902742212608 |
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| author | Kemal Ihsan Kilic Leonardo Mostarda |
| author_facet | Kemal Ihsan Kilic Leonardo Mostarda |
| author_sort | Kemal Ihsan Kilic |
| collection | DOAJ |
| description | We proposed a novel optimisation framework for drone-based operations which consists of the optimised Charging Station (CS) grid and the pathfinding heuristics for the drone. The proposed pathfinding heuristics are assessed for two different (triangular and square) CS grid configurations that are optimised for the drone range. We presented the case study of a boat rescue operation that is carried out in the sea. The minimisation of the “flight distance” and “number of chargings” are the objectives for the drone party and the minimisation of the “average waiting distance” (AWD) is the objective for the boat party. We studied the “single drone with many entities” case which is a form of Travelling Salesman Problem (TSP). We presented mathematical analysis and simulation results for the effectiveness of the pathfinding heuristic which we called the “red-grey path” heuristic. A novel and fast TSP heuristic was also proposed as part of the pathfinding heuristics and its performance was assessed. |
| first_indexed | 2024-12-13T19:01:01Z |
| format | Article |
| id | doaj.art-7bc5cabd29564b4594f94a0d3a9ce4c4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T19:01:01Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7bc5cabd29564b4594f94a0d3a9ce4c42022-12-21T23:34:41ZengIEEEIEEE Access2169-35362021-01-01916407016408910.1109/ACCESS.2021.31344599645571Heuristic Drone Pathfinding Over Optimized Charging Station GridKemal Ihsan Kilic0https://orcid.org/0000-0002-6277-4867Leonardo Mostarda1https://orcid.org/0000-0001-8852-8317Computer Science Division, University of Camerino, Camerino, ItalyComputer Science Division, University of Camerino, Camerino, ItalyWe proposed a novel optimisation framework for drone-based operations which consists of the optimised Charging Station (CS) grid and the pathfinding heuristics for the drone. The proposed pathfinding heuristics are assessed for two different (triangular and square) CS grid configurations that are optimised for the drone range. We presented the case study of a boat rescue operation that is carried out in the sea. The minimisation of the “flight distance” and “number of chargings” are the objectives for the drone party and the minimisation of the “average waiting distance” (AWD) is the objective for the boat party. We studied the “single drone with many entities” case which is a form of Travelling Salesman Problem (TSP). We presented mathematical analysis and simulation results for the effectiveness of the pathfinding heuristic which we called the “red-grey path” heuristic. A novel and fast TSP heuristic was also proposed as part of the pathfinding heuristics and its performance was assessed.https://ieeexplore.ieee.org/document/9645571/UAV path optimizationheuristic pathfinding for UAVsoptimized charging station grids for electric vehiclesmulti-objective multi-party optimizationTSP heuristics |
| spellingShingle | Kemal Ihsan Kilic Leonardo Mostarda Heuristic Drone Pathfinding Over Optimized Charging Station Grid IEEE Access UAV path optimization heuristic pathfinding for UAVs optimized charging station grids for electric vehicles multi-objective multi-party optimization TSP heuristics |
| title | Heuristic Drone Pathfinding Over Optimized Charging Station Grid |
| title_full | Heuristic Drone Pathfinding Over Optimized Charging Station Grid |
| title_fullStr | Heuristic Drone Pathfinding Over Optimized Charging Station Grid |
| title_full_unstemmed | Heuristic Drone Pathfinding Over Optimized Charging Station Grid |
| title_short | Heuristic Drone Pathfinding Over Optimized Charging Station Grid |
| title_sort | heuristic drone pathfinding over optimized charging station grid |
| topic | UAV path optimization heuristic pathfinding for UAVs optimized charging station grids for electric vehicles multi-objective multi-party optimization TSP heuristics |
| url | https://ieeexplore.ieee.org/document/9645571/ |
| work_keys_str_mv | AT kemalihsankilic heuristicdronepathfindingoveroptimizedchargingstationgrid AT leonardomostarda heuristicdronepathfindingoveroptimizedchargingstationgrid |