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International Journal of Aerospace Engineering
Volume 2017 (2017), Article ID 8085623, 13 pages
Research Article

An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

Department of Mechanical and Aerospace Engineering, California State University, Long Beach, 1250 N. Bellflower Blvd., Long Beach, CA 90840, USA

Correspondence should be addressed to Praveen Shankar

Received 5 October 2016; Revised 10 January 2017; Accepted 22 March 2017; Published 30 April 2017

Academic Editor: Paul Williams

Copyright © 2017 German Gramajo and Praveen Shankar. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of flight. Comparisons of this formulation to a path planning algorithm based on those with time constraint show equivalent coverage performance but improvement in prediction of overall mission duration and accuracy of the terminal position of the vehicle.