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• W2891559983 abstract "This paper introduces a novel Coverage Path Planning (CCP) algorithm for a Unmanned Aerial Systems (UAS) imagery mission. The proposed CPP algorithm is a vehicle-routing-based approach using a column generation method. In general, one of the main issues of the traditional arc-based vehicle routing approaches is imposing a turn penalty in a cost function because a turning motion of vehicle requires the more amount of energy than a cruise motion. However, the conventional vehicle-routing-based approaches for the CPP cannot capture a turning motion of the vehicle. This limitation of the arc-based mathematical model comes from the property of turning motions, which should be evaluated from two arcs because a turn motion occurs at a junction of the arcs. In this paper, to mitigate the limitation, a route-based model using column generation approach with a turn penalty is proposed. To demonstrate the proposed CPP approach, numerical simulations are conducted with a conventional CPP algorithm." @default.
• W2891559983 created "2018-09-27" @default.
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• W2891559983 date "2018-06-01" @default.
• W2891559983 modified "2023-09-24" @default.
• W2891559983 title "Coverage Path Planning for a UAS Imagery Mission using Column Generation with a Turn Penalty" @default.
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• W2891559983 doi "https://doi.org/10.1109/icuas.2018.8453311" @default.
• W2891559983 hasPublicationYear "2018" @default.
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