Coverage Path Planning for UAVs: An Energy-Efficient Method in Convex and Non-Convex Mixed Regions

As an important branch of path planning, coverage path planning (CPP) is widely used for unmanned aerial vehicles (UAVs) to cover target regions with lower energy consumption. Most current works focus on convex regions, whereas others need pre-decomposition to deal with non-convex or mixed regions. Therefore, it is necessary to pursue a concise and efficient method for the latter. This paper proposes a two-stage method named Shrink-Segment by Dynamic Programming (SSDP), which aims to cover mixed regions with limited energy. First, instead of decomposing and then planning, SSDP formulates an optimal path by shrinking the rings for mixed regions. Second, a dynamic programming (DP)-based approach is used to segment the overall path for UAVs in order to meet energy limits. Experimental results show that the proposed method achieves less path overlap and lower energy consumption compared to state-of-the-art methods.