Route optimization for multi-rotor aerial vehicles

Abstract

The mathematical statement of the problem for route optimization of multi-rotor aerial vehicles has been developed. In this formulation, the indicated problem is a Traveling Salesman Problem (TSP) of an asymmetric closed type. As a target functions of optimization the total energy consumption of MRAV motion along the broken line passing through n given points in the order given by the permutation (problem 1) and the total time of flying around the route along a broken line passing through n given points in the order given by the permutation (problem 2) have been proposed. It is shown that when a MRAV DJI Inspire 1 flies around the route points which have different altitudes, the differences between the “intuitive” and the optimal variants can be up to 43%. The more is difference in altitudes of the points to be flied around, the more is the difference between the “intuitive” and the optimal route variants. From practical point of view, the solution to problem 1 can be used in case there is a need to save MRAV power sources for solving some other problems. The solution to problem 1 is needed in case when there is a need for faster flying around the route.On average, the benefit of using optimization for an aerial vehicle of this type is 17-18%.