Windy Drone Coverage Path Planning with variable heights

C. Valverde Martín, J. Puerto Albandoz, L. Amorosi, P. Dell'Olmo

This study presents a second-order cone mixed-integer programming formulation for a monitoring system using a single drone. The goal is to cover a set of non-overlapping polygonal areas, starting and ending at a depot, while respecting the drone's limited endurance.

Key features of the formulation include:

Altitude Selection: The drone chooses from specific altitudes per area based on the required inspection precision.

Exit Points: Each area has a limited set of points where the drone can pause monitoring to move to another location.

Energy Management: When reaching minimum energy, the drone returns to the depot for a battery swap before continuing until all areas are covered.

Optimization: The model focuses on minimizing the total completion time.

Preliminary computational results using artificial instances are presented, along with an analysis of the resulting solutions.

Keywords: Monitoring system, Mixed-Integer Quadratic Programming, UAVs

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