Time-Efficient Coverage Path Planning for Energy-Constrained UAV

Algorithm 1

TECPP.

Input: Two-dimensional map of the interest area

   Coverage of all obstruction-free areas

Output: An efficient flight path of UAV

1: initialize and divide into square grids set

2: set the obstacle-free grids set as ,

3: for each grid node in do

4:   expend into 8 vertices -

5:   add - to

6: end for

7: for each vertex in do

8:   for each neighbor of do

9:     

10:     add to

11:     

12:     add to

13:   end for

14: end for

15: Directed Weighted Graph

16:

17: for each vertex in do

18:   Dijkstra to get all minimum cost array

19:   

20:   for each vertex in do

21:     add to

22:   end for

23: end for

24: for each vertex in do

25:   ifthen

26:     remove vertex from

27:   end if

28: end for

29:

30:

31:  return