- Title
- Energy efficient elliptical concave visibility graph algorithm for unmanned aerial vehicle in an obstacle-rich environment
- Creator
- Debnath, Sanjoy; Omar, Rosli; Bagchi, Susama; Nafea, Marwan; Naha, Ranesh; Nadira Sabudin, Elia
- Date
- 2020
- Type
- Text; Conference proceedings
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/195575
- Identifier
- vital:18537
- Identifier
-
https://doi.org/10.1109/I2CACIS49202.2020.9140112
- Abstract
- This paper proposes a path planning algorithm for unmanned aerial vehicle (UAV) called Elliptical Concave Visibility Graph (ECoVG). The algorithm, which is based on visibility graph (VG), overcomes the limitations of VG computation time and hence, it can be applied in real-time and in obstacle-rich environments. An experimental investigation has been done to compare the performance between ECoVG and another VG based method namely Equilateral-Space Oriented VG (ESOVG) in terms of computational time and path length. The investigation was done in identical scenarios through simulation to show that the ECoVG has a better computation time than that of ESOVG for its efficient selection of a region in calculating the path. It is also found that the proposed algorithm is energy efficient and complete since it can find a path if one exists.
- Publisher
- IEEE
- Relation
- 2020 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS); Shah Alam, Malaysia;20 June 2020 p. 129-134
- Rights
- All metadata describing materials held in, or linked to, the repository is freely available under a CC0 licence
- Subject
- Computational efficiency; Computationally Efficient; Conferences; Elliptical Concave Visibility Graph; Energy efficiency; Energy Efficient; Intelligent systems; Path planning; Path Planning Algorithm; Shape; Unmanned aerial vehicles
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