A mathematical model for coverage path planning problem for disjoint areas with unmanned aerial vehicles İnsansız hava araçları ile ayrık alanlı alan tarama probleminin matematiksel model ile çözümü

Bozdemir M. K. E., FIĞLALI N.

Journal of the Faculty of Engineering and Architecture of Gazi University, cilt.40, sa.3, ss.1431-1443, 2025 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 40 Sayı: 3
  • Basım Tarihi: 2025
  • Doi Numarası: 10.17341/gazimmfd.1456025
  • Dergi Adı: Journal of the Faculty of Engineering and Architecture of Gazi University
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Art Source, Compendex, TR DİZİN (ULAKBİM)
  • Sayfa Sayıları: ss.1431-1443
  • Anahtar Kelimeler: coverage path planning, homogeneous UAVs, multiple disjoint areas, Unmanned aerial vehicles
  • Kocaeli Üniversitesi Adresli: Evet

Özet

Today, Unmanned Aerial Vehicles (UAVs) are increasingly used in search and rescue, agriculture, security and surveillance problem due to their small size, low cost and strong adaptability. Coverage Path Problem (CPP), which is an important problem for UAV applications, basically can be defined finding a path that covers the entire area of interest. In the literature, there are many studies on coverage a single area while there are very few studies on CPP for disjoint areas. In this study, the problem of coverage discrete rectangular areas with a homogeneous UAV fleet, whose battery capacity is taken into account, is discussed and an efficient mathematical model is proposed to solve it. Test examples of the CPP for disjoint areas were created using different trace spacing and battery capacity, were solved with the proposed model and the results were interpreted.