飞行器路径规划中，最短距离不等于最低能耗，需协调垂直水平运动。
Energy-Optimal Planning of Waypoint-Based UAV Missions -- Does Minimum Distance Mean Minimum Energy?
- 基于飞行能量动力学模型，优化航点顺序以降低能耗。
- 95%情况下最优路径与最短路径不同，平均差异1.6%-3.3%。
- 适合关注无人机续航与能效优化的研究者和工程师。
多旋翼无人机是广泛应用的空中机器人类型，其能源效率直接影响任务范围与持续时间。本文研究三维空间中多旋翼无人机的能耗最优路径规划，旨在寻找能耗最低的航点顺序。基于先前构建的捕捉多旋翼飞行器第一性原理能量动态的模型，研究发现，在绝大多数情况（高达95%）下，能耗最优解与传统旅行商问题（最小化总距离）所得解不同。差异最高可达14.9%，平均为1.6%-3.3%，第90百分位在3.7%-6.5%之间，具体取决于任务范围与航点数量。通过关联飞行能量动力学，识别并解释了最低能耗排序的关键特征：并非单纯最小化距离，而是协调垂直与水平运动以提升气动效率才是节能关键。
原文摘要 · Abstract (English)
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that can be performed. This paper studies the energy-optimal planning of the multirotor, which aims at finding the optimal ordering of waypoints with the minimum energy consumption for missions in 3D space. The study is performed based on a previously developed model capturing first-principle energy dynamics of the multirotor. We found that in majority of the cases (up to 95%) the solutions of the energy-optimal planning are different from those of the traditional traveling salesman problem which minimizes the total distance. The difference can be as high as 14.9%, with the average at 1.6%-3.3% and 90th percentile at 3.7%-6.5% depending on the range and number of waypoints in the mission. We then identified and explained the key features of the minimum-energy order by correlating to the underlying flight energy dynamics. It is shown that instead of minimizing the distance, coordination of vertical and horizontal motion to promote aerodynamic efficiency is the key to optimizing energy consumption.
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