Time-Efficient Coverage Path Planning for Energy-Constrained UAV

Table 1

The cost parameters of UAV.

Parameter	Explanation	Value
	The speed of constant-speed phases	2 m/s
	Time cost parameter (straight flight)	0.5 s/m
	Energy cost parameter (straight flight)	0.12 KJ/m
	Time cost parameter (making a turn)	0.02 s/deg
	Energy cost parameter (making a turn)	0.018 KJ/deg
	Acceleration distance	0.31 m
	Deceleration distance	0.22 m
	Time cost of acceleration	0.4 s
	Time cost of deceleration	0.3 s
	Energy cost of acceleration	0.04 KJ
	Energy cost of deceleration	0.03 KJ