Efficient Energy Flight Path Planning Algorithm Using 3-D Visibility Roadmap for Small Unmanned Aerial Vehicle

Algorithm 2. Bounded energy space selection

Input: 3D map with edge and node sets

Output: Bounded energy space

1.    E_axis ← straight line between source and destination

2.    for each obstacle in the given map

3.        ← select the obstacles intersecting with the E_axis

4.    end

5.    for each intersected obstacle

6.        ζ_Ei ← join their vertices with source and destination   // energy space 1 created

7.    end

8.    for each obstacle in the given map

9.        ← select the obstacles intersecting with ζ_Ei   // energy space 2 created

10. end

Algorithm 2. Bounded energy space selection