Novel Energy-Aware 3D UAV Path Planning and Collision Avoidance Using Receding Horizon and Optimization-Based Control

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in recent years thanks to their agility, mobility, and cost-effectiveness. However, UAV navigation presents several challenges, particularly in path planning, which requires determining an optimal route while avoiding obstacles and adhering to various constraints. Another critical challenge is the limited flight time imposed by the onboard battery. This paper introduces a novel approach for energy-efficient three-dimensional online path planning for UAV formations operating in complex environments. We formulate the path planning problem as a minimization optimization problem, and employ Mixed-Integer Linear Programming (MILP) to achieve optimal solutions. The cost function is designed to minimize energy consumption while considering the inter-collision and intra-collision avoidance constraints within a limited detection range. To achieve this, an optimization approach incorporating Receding Horizon Control (RHC) is applied. The entire path is divided into segments or sub-paths, with constraints used to avoid collisions with obstacles and other members of the fleet. The proposed optimization approach enables fast navigation through dense environments and ensures a collision-free path for all UAVs. A path-smoothing strategy is proposed to further reduce energy consumption caused by sharp turns. The results demonstrate the effectiveness and accuracy of the proposed approach in dense environments with high risk of collision. We compared our proposed approach against recent works, and the results illustrate that the proposed approach outperforms others in terms of UAV formation, number of collisions, and partial path generation time.